diff --git a/.gitattributes b/.gitattributes index 3f051c7828ad35a89d7eec0a3e239156d65ed604..9ffe07f2a4b56be064d3bb0429d4e745934b1975 100644 --- a/.gitattributes +++ b/.gitattributes @@ -33564,3 +33564,334 @@ train/FloorPlan23/3/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png filter=lfs diff= train/FloorPlan23/3/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png filter=lfs diff=lfs merge=lfs -text train/FloorPlan23/3/rgb_0_mask_CoffeeMachine|-00.15|+00.90|-03.14.png filter=lfs diff=lfs merge=lfs -text train/FloorPlan23/3/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/3/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/3/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/3/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/3/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/3/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/3/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/3/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/3/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/3/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/3/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/3/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/29/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/29/rgb_0_mask_Pan|-02.17|+00.92|-01.10.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/29/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/29/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/29/rgb_1_mask_Pan|-02.17|+00.92|-01.10.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/29/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/29/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/29/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/39/rgb_1_mask_Plate|-02.12|+00.92|-02.42.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/39/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/39/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/39/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/39/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/39/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/39/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/39/rgb_1_mask_Cup|-02.44|+00.92|-02.36.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/39/rgb_0_mask_Plate|-02.12|+00.92|-02.42.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/30/rgb_1_mask_Chair|-03.26|+00.00|-02.09.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/30/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/30/rgb_1_mask_Mug|-02.59|+00.92|-02.31.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/30/rgb_0_mask_Chair|-03.26|+00.00|-02.09.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/30/rgb_0_mask_Shelf|-02.43|+00.52|-01.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/30/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/30/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/30/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/30/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/30/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/30/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/30/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/30/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/30/rgb_0_mask_Plate|-02.12|+00.92|-02.42.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/30/rgb_0_mask_WineBottle|-02.44|+00.92|-02.14.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/30/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/30/rgb_1_mask_WineBottle|-02.44|+00.92|-02.14.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/31/rgb_1_mask_Bottle|-02.70|+00.92|-00.88.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/31/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/31/rgb_0_mask_Pan|-02.17|+00.92|-01.10.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/31/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/31/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/31/rgb_1_mask_Pan|-02.17|+00.92|-01.10.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/31/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/31/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/31/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/31/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/31/rgb_0_mask_Bottle|-02.70|+00.92|-00.88.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/31/rgb_0_mask_Fridge|-00.33|+00.00|-00.77.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/31/rgb_0_mask_Bowl|-02.75|+00.92|-01.17.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/4/rgb_1_mask_Bottle|-02.70|+00.92|-00.88.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/4/rgb_0_mask_Pan|-02.17|+00.92|-01.10.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/4/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/4/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/4/rgb_1_mask_Pan|-02.17|+00.92|-01.10.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/4/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/4/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/4/rgb_0_mask_Lettuce|-02.62|+01.01|-01.73.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/4/rgb_0_mask_Bottle|-02.70|+00.92|-00.88.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/4/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/4/rgb_0_mask_Bowl|-02.75|+00.92|-01.17.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/7/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/7/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/7/rgb_1_mask_Shelf|-02.43|+00.52|-01.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/7/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/7/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/7/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/7/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/7/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/21/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/21/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/21/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/21/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/21/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/21/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/21/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/21/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/21/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/21/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/21/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/21/rgb_0_mask_Fridge|-00.33|+00.00|-00.77.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/25/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/25/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/25/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/25/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/25/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/25/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/25/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/25/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/25/rgb_1_mask_Faucet|-00.08|+00.90|-02.03.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/25/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/25/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/25/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/1/rgb_0_mask_Cabinet|-00.88|+00.39|-03.42.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.88|+00.39|-03.42.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/1/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/1/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/1/rgb_0_mask_Toaster|-00.18|+00.90|-02.76.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/1/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/6/rgb_1_mask_Chair|-03.26|+00.00|-02.09.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/6/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/6/rgb_1_mask_Shelf|-02.43|+00.52|-01.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/6/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/6/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/6/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/6/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/6/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/6/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/6/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/6/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/6/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/rgb_1_mask_Window|-02.50|+01.78|-04.19.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/11/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_0_mask_Drawer|-00.45|+00.78|-03.27.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_0_mask_CoffeeMachine|-00.15|+00.90|-03.14.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_1_mask_Drawer|-00.45|+00.78|-03.27.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_0_mask_Toaster|-00.18|+00.90|-02.76.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_0_mask_Fridge|-00.33|+00.00|-00.77.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_1_mask_CoffeeMachine|-00.15|+00.90|-03.14.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_0_mask_Plate|-02.12|+00.92|-02.42.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/5/rgb_0_mask_Shelf|-02.43|+00.15|-01.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/5/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/5/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/5/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/5/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/5/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/5/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/5/rgb_1_mask_Shelf|-02.43|+00.15|-01.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/5/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/5/rgb_0_mask_Lettuce|-02.62|+01.01|-01.73.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/5/rgb_0_mask_WineBottle|-02.44|+00.92|-02.14.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/5/rgb_1_mask_WineBottle|-02.44|+00.92|-02.14.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/rgb_1_mask_Chair|-03.26|+00.00|-02.09.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/rgb_1_mask_Bottle|-02.70|+00.92|-00.88.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/rgb_0_mask_Shelf|-02.43|+00.15|-01.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/rgb_1_mask_Shelf|-02.43|+00.15|-01.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/rgb_0_mask_Bottle|-02.70|+00.92|-00.88.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/rgb_0_mask_Pot|-02.24|+00.92|-01.88.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/18/rgb_1_mask_Pot|-02.24|+00.92|-01.88.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/8/rgb_0_mask_Shelf|-02.43|+00.15|-01.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/8/rgb_0_mask_Chair|-03.24|+00.00|-01.25.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/8/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/8/rgb_1_mask_Chair|-03.24|+00.00|-01.25.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/8/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/8/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/8/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/8/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/8/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/8/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/8/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/8/rgb_0_mask_Lettuce|-02.62|+01.01|-01.73.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/8/rgb_0_mask_Pot|-02.24|+00.92|-01.88.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/8/rgb_0_mask_Bowl|-02.75|+00.92|-01.17.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/8/rgb_0_mask_WineBottle|-02.44|+00.92|-02.14.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/8/rgb_1_mask_WineBottle|-02.44|+00.92|-02.14.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/8/rgb_1_mask_Pot|-02.24|+00.92|-01.88.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_0_mask_CoffeeMachine|-00.15|+00.90|-03.14.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_0_mask_Toaster|-00.18|+00.90|-02.76.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_1_mask_CoffeeMachine|-00.15|+00.90|-03.14.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/2/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/2/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/2/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/2/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/2/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/2/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/19/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/19/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/19/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/19/rgb_1_mask_Cabinet|-00.88|+02.14|-03.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/19/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/19/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/19/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/19/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/19/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/19/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/19/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/19/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/19/rgb_0_mask_Cabinet|-00.88|+02.14|-03.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/19/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/28/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/28/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/28/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/28/rgb_1_mask_Cabinet|-00.88|+02.14|-03.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/28/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/28/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/28/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/28/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/28/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/28/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/28/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/28/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/28/rgb_0_mask_Cabinet|-00.88|+02.14|-03.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/28/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/28/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/28/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/12/rgb_1_mask_Plate|-02.12|+00.92|-02.42.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/12/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/12/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/12/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/12/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/12/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/12/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/12/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/12/rgb_1_mask_Knife|-02.27|+00.92|-02.14.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/12/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/12/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/12/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan23/12/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png filter=lfs diff=lfs merge=lfs -text diff --git a/train/FloorPlan23/0/0.json b/train/FloorPlan23/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..44a0cea031e2134068d87b234fc0acfd9eb432ce --- /dev/null +++ b/train/FloorPlan23/0/0.json @@ -0,0 +1,4658 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.15|-01.69", + "object_info": { + "name": "Shelf_56e7d2ea", + "position": { + "x": -2.432276487350464, + "y": 0.15027305483818054, + "z": -1.6942251920700073 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.5205506086349487, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.15|-01.69", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0256943702697754, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -2.5611023902893066 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.25202104449272156, + "z": -1.6942222118377686 + }, + "size": { + "x": 0.8131651878356934, + "y": 0.20350056886672974, + "z": 1.7337603569030762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "object_info": { + "name": "LightSwitch_5e61d7a6", + "position": { + "x": -4.323999881744385, + "y": 1.319000005722046, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.475703239440918, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -4.280065059661865, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.280065059661865, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.2377760410308838, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.2377760410308838, + -0.033031947910785675 + ] + ], + "center": { + "x": -4.323999881744385, + "y": 1.3201357126235962, + "z": -0.01651597023010254 + }, + "size": { + "x": 0.08786964416503906, + "y": 0.1647193431854248, + "z": 0.03303195536136627 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -3.5, + "y": 0.9009992480278015, + "z": -3.299999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 27.000001907348633, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -3.5, + "y": 1.5759992599487305, + "z": -3.299999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Cabinet|-00.58|+00.39|-02.20", + "Cabinet|-00.31|+02.14|-01.54", + "Toaster|-00.18|+00.90|-02.76", + "Plate|-02.12|+00.92|-02.42", + "CounterTop|-00.30|+00.95|-02.79", + "Cabinet|-00.58|+00.39|-01.80", + "Cabinet|-00.31|+02.14|-02.48", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "DiningTable|-02.43|+00.00|-01.69", + "DishSponge|-00.07|+00.91|-01.69", + "Spatula|-00.30|+00.91|-02.54", + "Faucet|-00.08|+00.90|-02.03", + "Sink|-00.35|+00.91|-02.01" + ], + "different_object": [ + "Pen|-02.33|+00.92|-00.89", + "Knife|-02.27|+00.92|-02.14", + "Apple|-02.66|+00.97|-01.55", + "Chair|-03.24|+00.00|-01.25", + "Bowl|-02.75|+00.92|-01.17", + "Pot|-02.24|+00.92|-01.88", + "WineBottle|-02.44|+00.92|-02.14", + "Mug|-02.59|+00.92|-02.31", + "Cup|-02.44|+00.92|-02.36", + "Shelf|-02.43|+00.52|-01.69", + "Shelf|-02.43|+00.15|-01.69", + "Bottle|-02.70|+00.92|-00.88", + "Pencil|-02.22|+00.92|-00.86", + "Pan|-02.17|+00.92|-01.10", + "Lettuce|-02.62|+01.01|-01.73", + "Chair|-03.26|+00.00|-02.09", + "LightSwitch|-04.32|+01.32|+00.00", + "Tomato|-02.67|+00.98|-02.01" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/0/0_depth_npy.npy b/train/FloorPlan23/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..71c49566135dd06067ec34a4183ff018ec1aaba3 --- /dev/null +++ b/train/FloorPlan23/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e0eb29ed9f958d5e17ef38b462c7362a4f87426b32d2554dd0a7c0222589a90 +size 3145856 diff --git a/train/FloorPlan23/0/0_semantic_sensor_npy.npy b/train/FloorPlan23/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..4789789e8b8299fc946c7d3cc57017eaa4efb9d5 --- /dev/null +++ b/train/FloorPlan23/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f91c5a205bd4e0f33773b2d7e974f5a1540ecf6760cfd3b985671f5c92e55d4e +size 2359424 diff --git a/train/FloorPlan23/0/1.json b/train/FloorPlan23/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..8cbe295a9d9d24d8bf39b8c37742d27b9a0aceec --- /dev/null +++ b/train/FloorPlan23/0/1.json @@ -0,0 +1,4127 @@ +{ + "object": [ + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.700000047683716, + "y": 0.9009991884231567, + "z": -3.6000001430511475 + }, + "agent_rotation": { + "x": -0.0, + "y": 84.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.700000047683716, + "y": 1.5759992599487305, + "z": -3.6000001430511475 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Cabinet|-00.58|+00.39|-02.20", + "Cabinet|-00.31|+02.14|-01.54", + "Toaster|-00.18|+00.90|-02.76", + "Plate|-02.12|+00.92|-02.42", + "CounterTop|-00.30|+00.95|-02.79", + "Cabinet|-00.58|+00.39|-01.80", + "Cabinet|-00.31|+02.14|-02.48", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "DiningTable|-02.43|+00.00|-01.69", + "DishSponge|-00.07|+00.91|-01.69", + "Spatula|-00.30|+00.91|-02.54", + "Faucet|-00.08|+00.90|-02.03", + "Sink|-00.35|+00.91|-02.01" + ], + "different_object": [ + "StoveBurner|-01.52|+00.93|-03.75", + "Window|-02.50|+01.78|-04.19", + "Cabinet|-01.76|+02.14|-03.69", + "CoffeeMachine|-00.15|+00.90|-03.14", + "ButterKnife|-00.31|+00.91|-03.44", + "SaltShaker|-00.83|+00.90|-03.77", + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.52|+00.93|-03.50", + "Drawer|-00.45|+00.78|-03.27", + "StoveBurner|-01.13|+00.93|-03.75", + "Bread|-00.41|+00.95|-03.63", + "Sink|-00.35|+00.91|-02.01|SinkBasin", + "PepperShaker|-00.44|+00.90|-03.35", + "Cabinet|-00.58|+00.39|-03.40", + "Cabinet|-00.88|+02.14|-03.69" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/0/1_depth_npy.npy b/train/FloorPlan23/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f84040481a74271847e007d0ad93a085c199d0eb --- /dev/null +++ b/train/FloorPlan23/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19d6e70e54bafadba56b00423d0eda2bd534322b276087fdc128665aa5e3c51f +size 3145856 diff --git a/train/FloorPlan23/0/1_semantic_sensor_npy.npy b/train/FloorPlan23/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b1ea91add78ff7ffd6395fb3696d59c9603d32f9 --- /dev/null +++ b/train/FloorPlan23/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72c8584ab3e46285d984d0a99986d59eae53fd80a424dd61d547085c26efc4c1 +size 2359424 diff --git a/train/FloorPlan23/0/depth_0.png b/train/FloorPlan23/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..259290e7fda1c854c906eb09cc76ca4d9ef0e2e6 Binary files /dev/null and b/train/FloorPlan23/0/depth_0.png differ diff --git a/train/FloorPlan23/0/depth_1.png b/train/FloorPlan23/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..de5419693ff420375b92d4280c9f5b33091210f1 Binary files /dev/null and b/train/FloorPlan23/0/depth_1.png differ diff --git a/train/FloorPlan23/0/mask_questions.jsonl b/train/FloorPlan23/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72441e90070ff22c22223b2641659e8e32857f68 --- /dev/null +++ b/train/FloorPlan23/0/mask_questions.jsonl @@ -0,0 +1,12 @@ +{"id": 15410, "folder_dir": "FloorPlan23/0", "pair_name": "0-1:Fridge|-00.33|+00.00|-00.77", "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. Cabinet\nC. Pen\nD. Fridge", "answer": "D", "object_name": "Fridge", "image_1": "FloorPlan23/0/rgb_0.png", "image_2": "FloorPlan23/0/rgb_1.png", "mask_image": "FloorPlan23/0/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png", "options": ["Chair", "Cabinet", "Pen", "Fridge"]} +{"id": 15411, "folder_dir": "FloorPlan23/0", "pair_name": "0-1:Cabinet|-00.58|+00.39|-02.20", "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. Apple\nB. Cabinet\nC. Fridge\nD. Bowl", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/0/rgb_0.png", "image_2": "FloorPlan23/0/rgb_1.png", "mask_image": "FloorPlan23/0/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png", "options": ["Apple", "Cabinet", "Fridge", "Bowl"]} +{"id": 15412, "folder_dir": "FloorPlan23/0", "pair_name": "0-1:Cabinet|-00.31|+02.14|-01.54", "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. Tomato\nB. Fridge\nC. Knife\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/0/rgb_0.png", "image_2": "FloorPlan23/0/rgb_1.png", "mask_image": "FloorPlan23/0/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png", "options": ["Tomato", "Fridge", "Knife", "Cabinet"]} +{"id": 15413, "folder_dir": "FloorPlan23/0", "pair_name": "0-1:Toaster|-00.18|+00.90|-02.76", "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. WineBottle\nC. Toaster\nD. Shelf", "answer": "C", "object_name": "Toaster", "image_1": "FloorPlan23/0/rgb_0.png", "image_2": "FloorPlan23/0/rgb_1.png", "mask_image": "FloorPlan23/0/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png", "options": ["Fridge", "WineBottle", "Toaster", "Shelf"]} +{"id": 15414, "folder_dir": "FloorPlan23/0", "pair_name": "0-1:Cabinet|-00.58|+00.39|-01.80", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Tomato\nC. Fridge\nD. Mug", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/0/rgb_0.png", "image_2": "FloorPlan23/0/rgb_1.png", "mask_image": "FloorPlan23/0/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png", "options": ["Cabinet", "Tomato", "Fridge", "Mug"]} +{"id": 15415, "folder_dir": "FloorPlan23/0", "pair_name": "0-1:Cabinet|-00.31|+02.14|-02.48", "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. Apple\nB. Cabinet\nC. Fridge\nD. Chair", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/0/rgb_0.png", "image_2": "FloorPlan23/0/rgb_1.png", "mask_image": "FloorPlan23/0/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png", "options": ["Apple", "Cabinet", "Fridge", "Chair"]} +{"id": 15416, "folder_dir": "FloorPlan23/0", "pair_name": "0-1:Cabinet|-00.30|+01.92|-02.50", "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. Bowl\nB. Shelf\nC. Fridge\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/0/rgb_0.png", "image_2": "FloorPlan23/0/rgb_1.png", "mask_image": "FloorPlan23/0/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png", "options": ["Bowl", "Shelf", "Fridge", "Cabinet"]} +{"id": 15417, "folder_dir": "FloorPlan23/0", "pair_name": "1-0:Cabinet|-00.58|+00.39|-02.20", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Microwave\nC. StoveBurner\nD. Fridge", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/0/rgb_1.png", "image_2": "FloorPlan23/0/rgb_0.png", "mask_image": "FloorPlan23/0/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png", "options": ["Cabinet", "Microwave", "StoveBurner", "Fridge"]} +{"id": 15418, "folder_dir": "FloorPlan23/0", "pair_name": "1-0:Cabinet|-00.31|+02.14|-01.54", "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. CoffeeMachine\nB. SaltShaker\nC. Fridge\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/0/rgb_1.png", "image_2": "FloorPlan23/0/rgb_0.png", "mask_image": "FloorPlan23/0/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png", "options": ["CoffeeMachine", "SaltShaker", "Fridge", "Cabinet"]} +{"id": 15419, "folder_dir": "FloorPlan23/0", "pair_name": "1-0:Cabinet|-00.58|+00.39|-01.80", "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. Fridge\nC. SinkBasin\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/0/rgb_1.png", "image_2": "FloorPlan23/0/rgb_0.png", "mask_image": "FloorPlan23/0/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png", "options": ["Window", "Fridge", "SinkBasin", "Cabinet"]} +{"id": 15420, "folder_dir": "FloorPlan23/0", "pair_name": "1-0:Cabinet|-00.31|+02.14|-02.48", "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. Cabinet\nB. Bread\nC. PepperShaker\nD. Fridge", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/0/rgb_1.png", "image_2": "FloorPlan23/0/rgb_0.png", "mask_image": "FloorPlan23/0/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png", "options": ["Cabinet", "Bread", "PepperShaker", "Fridge"]} +{"id": 15421, "folder_dir": "FloorPlan23/0", "pair_name": "1-0:Cabinet|-00.30|+01.92|-02.50", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. StoveBurner\nC. Microwave\nD. Fridge", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/0/rgb_1.png", "image_2": "FloorPlan23/0/rgb_0.png", "mask_image": "FloorPlan23/0/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png", "options": ["Cabinet", "StoveBurner", "Microwave", "Fridge"]} diff --git a/train/FloorPlan23/0/questions_distance.jsonl b/train/FloorPlan23/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8848f3c1288d1dffc1bb2877609de366bd0bbf05 --- /dev/null +++ b/train/FloorPlan23/0/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4592, "folder_dir": "FloorPlan23/0", "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. DishSponge\nB. SoapBottle\nC. Faucet\nD. Other\n", "answer": "A", "src_object": "Fridge", "target_object": "DishSponge", "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": "DishSponge", "semantic_id": "DishSponge|-00.07|+00.91|-01.69", "distance": 0.9572340251047243, "com": {"x": -0.07007645070552826, "y": 0.9169249534606934, "z": -1.6864699125289917}}, {"text": "SoapBottle", "semantic_id": "SoapBottle|-00.18|+00.90|-02.46", "distance": 1.6943977353944495, "com": {"x": -0.183001309633255, "y": 1.0065033435821533, "z": -2.458003520965576}}, {"text": "Faucet", "semantic_id": "Faucet|-00.08|+00.90|-02.03", "distance": 1.2748797529870763, "com": {"x": -0.1677103042602539, "y": 0.9829331636428833, "z": -2.0341999530792236}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/0/rgb_0.png", "image_2": "FloorPlan23/0/rgb_1.png"} +{"id": 4593, "folder_dir": "FloorPlan23/0", "query": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Drawer\nB. CoffeeMachine\nC. Toaster\nD. Other\n", "answer": "A", "src_object": "CounterTop", "target_object": "Drawer", "question": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Drawer", "semantic_id": "Drawer|-00.45|+00.78|-03.27", "distance": 0.3254973955029687, "com": {"x": -0.45659682154655457, "y": 0.7975291013717651, "z": -3.26829195022583}}, {"text": "CoffeeMachine", "semantic_id": "CoffeeMachine|-00.15|+00.90|-03.14", "distance": 0.33693807644203705, "com": {"x": -0.2524435818195343, "y": 1.1250267028808594, "z": -3.143627166748047}}, {"text": "Toaster", "semantic_id": "Toaster|-00.18|+00.90|-02.76", "distance": 0.32551581694460907, "com": {"x": -0.19870756566524506, "y": 0.9931158423423767, "z": -2.76408052444458}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/0/rgb_0.png", "image_2": "FloorPlan23/0/rgb_1.png"} diff --git a/train/FloorPlan23/0/rgb_0.png b/train/FloorPlan23/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ab7311d7ea12675203be8ffe5d6fc75b81e565df --- /dev/null +++ b/train/FloorPlan23/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5db0390a024d8c443701ce40ef7dfb0e8551bb5cca50b13a6900270d4e872ec +size 812338 diff --git a/train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png b/train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png new file mode 100644 index 0000000000000000000000000000000000000000..59224735e7588535fc209944b4fa4ce969295c01 --- /dev/null +++ b/train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f753dd4a8e2f6f981671613065f3f9f644a4694d810fdb418efe0e3330e21362 +size 708295 diff --git a/train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png b/train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png new file mode 100644 index 0000000000000000000000000000000000000000..32a00addb3ae67a021e4e26a3d25d02892cdd40f --- /dev/null +++ b/train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:949e6c01d3d13911f4747d8878b5d6a364cb202c0d48b25c95c30abce06ec00a +size 711331 diff --git a/train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png b/train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png new file mode 100644 index 0000000000000000000000000000000000000000..98492fa603679732e8dc3f9cd6069a71461f018d --- /dev/null +++ b/train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a0315b23778817441dbd74d47d1043091042118394617f5f93f42d3a8440c11 +size 705665 diff --git a/train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png b/train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png new file mode 100644 index 0000000000000000000000000000000000000000..9355e57b68e089e5b55befada892a2c933fc4e71 --- /dev/null +++ b/train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2d36d6525af2890e4b18e6e898a8a2f330fdf5c1f63af8dae6a8ae55923df0f +size 709297 diff --git a/train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png b/train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png new file mode 100644 index 0000000000000000000000000000000000000000..f192ae0788d900d427e44cb44e5b79a7655b56be --- /dev/null +++ b/train/FloorPlan23/0/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95976e0250fe5ed54a1dd01ce9a0580edbed5bf0909308cbc333a737b4815f54 +size 705764 diff --git a/train/FloorPlan23/0/rgb_1.png b/train/FloorPlan23/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..5926c87b347cf071ccbd36082f0505959d34e2df --- /dev/null +++ b/train/FloorPlan23/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74f6aa5abbfba15c568c92c656a80bf3c1084ceea6441101643454aa3958d175 +size 668113 diff --git a/train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png b/train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png new file mode 100644 index 0000000000000000000000000000000000000000..5f9d10c3d8e409ff5703a67184dcdf0506cf1f1a --- /dev/null +++ b/train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d50f24fc83a133e76aad4f1033a481f48d8daaedf04ea9d764a78c0b7197487 +size 581577 diff --git a/train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png b/train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png new file mode 100644 index 0000000000000000000000000000000000000000..9319719e912695d5891177fb38b9a67b1bd7057b --- /dev/null +++ b/train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f20275bce2283d3e1dc0a14361893f52fe3b87604547c47ebd79a168b12e37e6 +size 590853 diff --git a/train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png b/train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png new file mode 100644 index 0000000000000000000000000000000000000000..461263a889bceb9182366d05b0edb0e43ad0fbc3 --- /dev/null +++ b/train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce9632a95f309823646907fb4f5850589b7b6fd62188d54a7f7ff97d2b68df04 +size 587799 diff --git a/train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png b/train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png new file mode 100644 index 0000000000000000000000000000000000000000..d60bbdd367226fe1f0c9a974e39b69f5b6b759c0 --- /dev/null +++ b/train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5a4eed5785d5b0a4327b7487e6371f44d87c204936fc6a55364498df98798e6 +size 588947 diff --git a/train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png b/train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png new file mode 100644 index 0000000000000000000000000000000000000000..ec3d9ac0dc7ac3ef3a11dbdf165c3f45f7732b87 --- /dev/null +++ b/train/FloorPlan23/0/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f87b9d6bff8f0fee084599aa31e6a3dbd97e64168230a9235baf8af07144efe +size 589001 diff --git a/train/FloorPlan23/0/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png b/train/FloorPlan23/0/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png new file mode 100644 index 0000000000000000000000000000000000000000..0a4627ff1b9be46866718e7ce8b152302d2cd8fa --- /dev/null +++ b/train/FloorPlan23/0/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4abbf8cc739bcfe5206b677d5002389ac7955404e0ef8fd13bf6fb3df201f97 +size 543694 diff --git a/train/FloorPlan23/0/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png b/train/FloorPlan23/0/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png new file mode 100644 index 0000000000000000000000000000000000000000..262daf271441203df1dc8d2ee20ec86a1efdf8e0 --- /dev/null +++ b/train/FloorPlan23/0/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b37213e3c83b36db2a5488f21d7545401eddf555d59f0ace15cb2a74dbeeb43 +size 591570 diff --git a/train/FloorPlan23/0/semantic_0.png b/train/FloorPlan23/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..64fa35224cf9517a39e205c0a7e42e82d0d54406 Binary files /dev/null and b/train/FloorPlan23/0/semantic_0.png differ diff --git a/train/FloorPlan23/0/semantic_1.png b/train/FloorPlan23/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..18883614c480fcb06b0e107bf2194e7c9fc448a1 Binary files /dev/null and b/train/FloorPlan23/0/semantic_1.png differ diff --git a/train/FloorPlan23/1/0.json b/train/FloorPlan23/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..7ce5f6125adf2aa1749d6252e9d02c588d89b208 --- /dev/null +++ b/train/FloorPlan23/1/0.json @@ -0,0 +1,5991 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "object_info": { + "name": "Cabinet_b8c26787", + "position": { + "x": -0.8778074383735657, + "y": 0.3888453543186188, + "z": -3.422300100326538 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.647717237472534, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6206655502319336, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.739914894104004 + ] + ], + "center": { + "x": -0.749236524105072, + "y": 0.3888453245162964, + "z": -3.5777101516723633 + }, + "size": { + "x": 0.25714194774627686, + "y": 0.6573984622955322, + "z": 0.32440948486328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Shelf|-02.43|+00.15|-01.69", + "object_info": { + "name": "Shelf_56e7d2ea", + "position": { + "x": -2.432276487350464, + "y": 0.15027305483818054, + "z": -1.6942251920700073 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.5205506086349487, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.15|-01.69", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0256943702697754, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -2.5611023902893066 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.25202104449272156, + "z": -1.6942222118377686 + }, + "size": { + "x": 0.8131651878356934, + "y": 0.20350056886672974, + "z": 1.7337603569030762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Potato|-02.08|+00.95|-01.60", + "object_info": { + "name": "Potato_097cac87", + "position": { + "x": -2.0824663639068604, + "y": 0.9517925977706909, + "z": -1.595628023147583 + }, + "rotation": { + "x": 0.09599222987890244, + "y": 295.7773132324219, + "z": 0.3481499254703522 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": true, + "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": 0.18000000715255737, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.42998206615448, + "objectType": "Potato", + "objectId": "Potato|-02.08|+00.95|-01.60", + "assetId": "Potato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0365054607391357, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.6359621286392212 + ] + ], + "center": { + "x": -2.084045886993408, + "y": 0.9514029026031494, + "z": -1.5954636335372925 + }, + "size": { + "x": 0.09508085250854492, + "y": 0.0678938627243042, + "z": 0.08099699020385742 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.11331844329834, + 0.9176058173179626, + -1.5434285402297974 + ], + [ + -2.1428205966949463, + 0.9171935319900513, + -1.6045199632644653 + ], + [ + -2.0544910430908203, + 0.9173579216003418, + -1.64717698097229 + ], + [ + -2.024988889694214, + 0.9177701473236084, + -1.586085557937622 + ], + [ + -2.113600015640259, + 0.9854477643966675, + -1.5437504053115845 + ], + [ + -2.1431021690368652, + 0.9850355386734009, + -1.6048418283462524 + ], + [ + -2.0547726154327393, + 0.9851998686790466, + -1.6474988460540771 + ], + [ + -2.025270462036133, + 0.985612154006958, + -1.5864073038101196 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.600000023841858, + "y": 0.9009994864463806, + "z": -0.6000000238418579 + }, + "agent_rotation": { + "x": -0.0, + "y": 198.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.600000023841858, + "y": 1.5759994983673096, + "z": -0.6000000238418579 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Cabinet|-00.58|+00.39|-02.20", + "Toaster|-00.18|+00.90|-02.76", + "Drawer|-00.75|+00.78|-03.55", + "CoffeeMachine|-00.15|+00.90|-03.14", + "ButterKnife|-00.31|+00.91|-03.44", + "CounterTop|-00.30|+00.95|-02.79", + "Cabinet|-00.33|+01.92|-03.39", + "Cabinet|-00.31|+02.14|-02.48", + "Cabinet|-00.30|+01.92|-02.50", + "Drawer|-00.45|+00.78|-03.27", + "Spatula|-00.30|+00.91|-02.54", + "Bread|-00.41|+00.95|-03.63", + "PepperShaker|-00.44|+00.90|-03.35", + "Cabinet|-00.58|+00.39|-03.40", + "Sink|-00.35|+00.91|-02.01", + "Cabinet|-00.88|+00.39|-03.42" + ], + "different_object": [ + "Apple|-02.66|+00.97|-01.55", + "Bowl|-02.75|+00.92|-01.17", + "StoveBurner|-01.13|+00.93|-03.50", + "Shelf|-02.43|+00.15|-01.69", + "StoveBurner|-01.52|+00.93|-03.75", + "Pot|-02.24|+00.92|-01.88", + "SaltShaker|-00.83|+00.90|-03.77", + "Cup|-02.44|+00.92|-02.36", + "Pan|-02.17|+00.92|-01.10", + "Chair|-03.26|+00.00|-02.09", + "Tomato|-02.67|+00.98|-02.01", + "Knife|-02.27|+00.92|-02.14", + "Chair|-03.24|+00.00|-01.25", + "Window|-02.50|+01.78|-04.19", + "Cabinet|-01.76|+02.14|-03.69", + "Blinds|-02.54|+02.70|-03.96", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.52|+00.93|-03.50", + "StoveBurner|-01.13|+00.93|-03.75", + "GarbageCan|-01.94|00.00|-03.76", + "Lettuce|-02.62|+01.01|-01.73", + "WineBottle|-02.44|+00.92|-02.14", + "Plate|-02.12|+00.92|-02.42", + "Mug|-02.59|+00.92|-02.31", + "Shelf|-02.43|+00.52|-01.69", + "DiningTable|-02.43|+00.00|-01.69", + "Potato|-02.08|+00.95|-01.60", + "Cabinet|-00.88|+02.14|-03.69" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/1/0_depth_npy.npy b/train/FloorPlan23/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..1f630acb4f884dcc2ec8271a55b496a7d949ec99 --- /dev/null +++ b/train/FloorPlan23/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2dae5e6cf57abe45858c5a8161ebea50b93b96b6d0342d54706f0d38fa4c52c +size 3145856 diff --git a/train/FloorPlan23/1/0_semantic_sensor_npy.npy b/train/FloorPlan23/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..897da8c6f9a26d45d15336e279d27cecb666df17 --- /dev/null +++ b/train/FloorPlan23/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:513faaee1d9f2f2dd31255f651d38ac4619f29fd61f41353164dc9ebc75ca545 +size 2359424 diff --git a/train/FloorPlan23/1/1.json b/train/FloorPlan23/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..f99789d78bc8e61f305ab3890b2b0c00d08c0cfc --- /dev/null +++ b/train/FloorPlan23/1/1.json @@ -0,0 +1,3253 @@ +{ + "object": [ + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "object_info": { + "name": "Cabinet_b8c26787", + "position": { + "x": -0.8778074383735657, + "y": 0.3888453543186188, + "z": -3.422300100326538 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.647717237472534, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6206655502319336, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.739914894104004 + ] + ], + "center": { + "x": -0.749236524105072, + "y": 0.3888453245162964, + "z": -3.5777101516723633 + }, + "size": { + "x": 0.25714194774627686, + "y": 0.6573984622955322, + "z": 0.32440948486328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Spoon|-00.33|+00.79|-02.12", + "object_info": { + "name": "Spoon_ef4541de", + "position": { + "x": -0.32795315980911255, + "y": 0.7871569991111755, + "z": -2.1250267028808594 + }, + "rotation": { + "x": 0.3525198698043823, + "y": 33.92948532104492, + "z": 0.8351927399635315 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.129457950592041, + "objectType": "Spoon", + "objectId": "Spoon|-00.33|+00.79|-02.12", + "assetId": "Spoon_1", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26713094115257263, + 0.8056613206863403, + -2.0415267944335938 + ], + [ + -0.26713094115257263, + 0.8056613206863403, + -2.2291860580444336 + ], + [ + -0.26713094115257263, + 0.7863336801528931, + -2.0415267944335938 + ], + [ + -0.26713094115257263, + 0.7863336801528931, + -2.2291860580444336 + ], + [ + -0.40064141154289246, + 0.8056613206863403, + -2.0415267944335938 + ], + [ + -0.40064141154289246, + 0.8056613206863403, + -2.2291860580444336 + ], + [ + -0.40064141154289246, + 0.7863336801528931, + -2.0415267944335938 + ], + [ + -0.40064141154289246, + 0.7863336801528931, + -2.2291860580444336 + ] + ], + "center": { + "x": -0.33388617634773254, + "y": 0.7959975004196167, + "z": -2.1353564262390137 + }, + "size": { + "x": 0.13351047039031982, + "y": 0.019327640533447266, + "z": 0.18765926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.2613292932510376, + 0.7864380478858948, + -2.061155319213867 + ], + [ + -0.2956712245941162, + 0.7858347296714783, + -2.038057327270508 + ], + [ + -0.41144806146621704, + 0.7871109247207642, + -2.21016001701355 + ], + [ + -0.3771061301231384, + 0.7877142429351807, + -2.233258008956909 + ], + [ + -0.26149433851242065, + 0.8054919838905334, + -2.0609030723571777 + ], + [ + -0.29583626985549927, + 0.8048886656761169, + -2.0378048419952393 + ], + [ + -0.4116131067276001, + 0.8061648607254028, + -2.2099077701568604 + ], + [ + -0.3772711455821991, + 0.8067681789398193, + -2.2330057621002197 + ] + ] + } + } + }, + { + "objectId": "Fork|-00.30|+00.79|-01.86", + "object_info": { + "name": "Fork_2ddc3e45", + "position": { + "x": -0.29574909806251526, + "y": 0.7884383797645569, + "z": -1.8586688041687012 + }, + "rotation": { + "x": 0.28218215703964233, + "y": -0.001193281845189631, + "z": 359.9201965332031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.0284688472747803, + "objectType": "Fork", + "objectId": "Fork|-00.30|+00.79|-01.86", + "assetId": "Fork_1", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2790178656578064, + 0.8070268630981445, + -1.7569708824157715 + ], + [ + -0.2790178656578064, + 0.8070268630981445, + -2.004701614379883 + ], + [ + -0.2790178656578064, + 0.7866312265396118, + -1.7569708824157715 + ], + [ + -0.2790178656578064, + 0.7866312265396118, + -2.004701614379883 + ], + [ + -0.3124590516090393, + 0.8070268630981445, + -1.7569708824157715 + ], + [ + -0.3124590516090393, + 0.8070268630981445, + -2.004701614379883 + ], + [ + -0.3124590516090393, + 0.7866312265396118, + -1.7569708824157715 + ], + [ + -0.3124590516090393, + 0.7866312265396118, + -2.004701614379883 + ] + ], + "center": { + "x": -0.29573845863342285, + "y": 0.7968290448188782, + "z": -1.8808362483978271 + }, + "size": { + "x": 0.03344118595123291, + "y": 0.020395636558532715, + "z": 0.24773073196411133 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.2790479063987732, + 0.785405158996582, + -1.7570518255233765 + ], + [ + -0.3124615550041199, + 0.7854517102241516, + -1.7570523023605347 + ], + [ + -0.3124563694000244, + 0.78667151927948, + -2.004727363586426 + ], + [ + -0.27904272079467773, + 0.7866249680519104, + -2.0047268867492676 + ], + [ + -0.2790178656578064, + 0.806972861289978, + -1.7569456100463867 + ], + [ + -0.3124315142631531, + 0.8070194125175476, + -1.756946086883545 + ], + [ + -0.31242635846138, + 0.808239221572876, + -2.0046212673187256 + ], + [ + -0.2790127098560333, + 0.8081926703453064, + -2.0046207904815674 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.600000023841858, + "y": 0.9009994864463806, + "z": -0.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 110.99999237060547, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.600000023841858, + "y": 1.5759994983673096, + "z": -0.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Cabinet|-00.58|+00.39|-02.20", + "Toaster|-00.18|+00.90|-02.76", + "Drawer|-00.75|+00.78|-03.55", + "CoffeeMachine|-00.15|+00.90|-03.14", + "ButterKnife|-00.31|+00.91|-03.44", + "CounterTop|-00.30|+00.95|-02.79", + "Cabinet|-00.33|+01.92|-03.39", + "Cabinet|-00.31|+02.14|-02.48", + "Cabinet|-00.30|+01.92|-02.50", + "Drawer|-00.45|+00.78|-03.27", + "Spatula|-00.30|+00.91|-02.54", + "Bread|-00.41|+00.95|-03.63", + "PepperShaker|-00.44|+00.90|-03.35", + "Cabinet|-00.58|+00.39|-03.40", + "Sink|-00.35|+00.91|-02.01", + "Cabinet|-00.88|+00.39|-03.42" + ], + "different_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Cabinet|-00.31|+02.14|-01.54", + "Fork|-00.30|+00.79|-01.86", + "Cabinet|-00.58|+00.39|-01.80", + "SoapBottle|-00.18|+00.90|-02.46", + "DishSponge|-00.07|+00.91|-01.69", + "Spoon|-00.33|+00.79|-02.12", + "Sink|-00.35|+00.91|-02.01|SinkBasin", + "Faucet|-00.08|+00.90|-02.03" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/1/1_depth_npy.npy b/train/FloorPlan23/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..27feead00b6af27a5590d6c6c49fcf571fdd8022 --- /dev/null +++ b/train/FloorPlan23/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f85ca09a53b5caf13a5179eec7c983e3b681529b4014ff95b2e30a17e2094e8a +size 3145856 diff --git a/train/FloorPlan23/1/1_semantic_sensor_npy.npy b/train/FloorPlan23/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b1b955038aa855bb3f8fa3c9ab71db62c6b3abab --- /dev/null +++ b/train/FloorPlan23/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e28be30c09d2b955bf06071800ac8ac33be2e68a33e80d50635db70482536774 +size 2359424 diff --git a/train/FloorPlan23/1/depth_0.png b/train/FloorPlan23/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..791fd10c4187f6f9ee7954919645835865404f18 Binary files /dev/null and b/train/FloorPlan23/1/depth_0.png differ diff --git a/train/FloorPlan23/1/depth_1.png b/train/FloorPlan23/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..7e00ce17c3b066d85d153584b4b0f44f162d4409 Binary files /dev/null and b/train/FloorPlan23/1/depth_1.png differ diff --git a/train/FloorPlan23/1/mask_questions.jsonl b/train/FloorPlan23/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8be04a0f6feac6625cb093e49135f3036de2c1dc --- /dev/null +++ b/train/FloorPlan23/1/mask_questions.jsonl @@ -0,0 +1,11 @@ +{"id": 15434, "folder_dir": "FloorPlan23/1", "pair_name": "0-1:Cabinet|-00.58|+00.39|-02.20", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Toaster\nC. WineBottle\nD. Lettuce", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/1/rgb_0.png", "image_2": "FloorPlan23/1/rgb_1.png", "mask_image": "FloorPlan23/1/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png", "options": ["Cabinet", "Toaster", "WineBottle", "Lettuce"]} +{"id": 15435, "folder_dir": "FloorPlan23/1", "pair_name": "0-1:Cabinet|-00.33|+01.92|-03.39", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Apple\nC. Cabinet\nD. GarbageCan", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/1/rgb_0.png", "image_2": "FloorPlan23/1/rgb_1.png", "mask_image": "FloorPlan23/1/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png", "options": ["Cabinet", "Apple", "Cabinet", "GarbageCan"]} +{"id": 15436, "folder_dir": "FloorPlan23/1", "pair_name": "0-1:Cabinet|-00.31|+02.14|-02.48", "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. Pot\nB. SaltShaker\nC. Cabinet\nD. Cabinet", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/1/rgb_0.png", "image_2": "FloorPlan23/1/rgb_1.png", "mask_image": "FloorPlan23/1/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png", "options": ["Pot", "SaltShaker", "Cabinet", "Cabinet"]} +{"id": 15437, "folder_dir": "FloorPlan23/1", "pair_name": "0-1:Cabinet|-00.30|+01.92|-02.50", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Window\nC. Cabinet\nD. Tomato", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/1/rgb_0.png", "image_2": "FloorPlan23/1/rgb_1.png", "mask_image": "FloorPlan23/1/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png", "options": ["Cabinet", "Window", "Cabinet", "Tomato"]} +{"id": 15438, "folder_dir": "FloorPlan23/1", "pair_name": "0-1:Cabinet|-00.58|+00.39|-03.40", "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. Cabinet\nB. StoveBurner\nC. Knife\nD. Cabinet", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/1/rgb_0.png", "image_2": "FloorPlan23/1/rgb_1.png", "mask_image": "FloorPlan23/1/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png", "options": ["Cabinet", "StoveBurner", "Knife", "Cabinet"]} +{"id": 15439, "folder_dir": "FloorPlan23/1", "pair_name": "0-1:Cabinet|-00.88|+00.39|-03.42", "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. Bowl\nB. Shelf\nC. Cabinet\nD. Cabinet", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/1/rgb_0.png", "image_2": "FloorPlan23/1/rgb_1.png", "mask_image": "FloorPlan23/1/rgb_1_mask_Cabinet|-00.88|+00.39|-03.42.png", "options": ["Bowl", "Shelf", "Cabinet", "Cabinet"]} +{"id": 15440, "folder_dir": "FloorPlan23/1", "pair_name": "1-0:Toaster|-00.18|+00.90|-02.76", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Spoon\nC. Fork\nD. Toaster", "answer": "D", "object_name": "Toaster", "image_1": "FloorPlan23/1/rgb_1.png", "image_2": "FloorPlan23/1/rgb_0.png", "mask_image": "FloorPlan23/1/rgb_0_mask_Toaster|-00.18|+00.90|-02.76.png", "options": ["Cabinet", "Spoon", "Fork", "Toaster"]} +{"id": 15441, "folder_dir": "FloorPlan23/1", "pair_name": "1-0:Cabinet|-00.33|+01.92|-03.39", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Faucet\nC. Cabinet\nD. SoapBottle", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/1/rgb_1.png", "image_2": "FloorPlan23/1/rgb_0.png", "mask_image": "FloorPlan23/1/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png", "options": ["Cabinet", "Faucet", "Cabinet", "SoapBottle"]} +{"id": 15442, "folder_dir": "FloorPlan23/1", "pair_name": "1-0:Cabinet|-00.30|+01.92|-02.50", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. SoapBottle\nC. Cabinet\nD. SinkBasin", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/1/rgb_1.png", "image_2": "FloorPlan23/1/rgb_0.png", "mask_image": "FloorPlan23/1/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png", "options": ["Cabinet", "SoapBottle", "Cabinet", "SinkBasin"]} +{"id": 15443, "folder_dir": "FloorPlan23/1", "pair_name": "1-0:Cabinet|-00.58|+00.39|-03.40", "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. SinkBasin\nB. Cabinet\nC. Cabinet\nD. SoapBottle", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/1/rgb_1.png", "image_2": "FloorPlan23/1/rgb_0.png", "mask_image": "FloorPlan23/1/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png", "options": ["SinkBasin", "Cabinet", "Cabinet", "SoapBottle"]} +{"id": 15444, "folder_dir": "FloorPlan23/1", "pair_name": "1-0:Cabinet|-00.88|+00.39|-03.42", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Fork\nC. Cabinet\nD. Spoon", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/1/rgb_1.png", "image_2": "FloorPlan23/1/rgb_0.png", "mask_image": "FloorPlan23/1/rgb_0_mask_Cabinet|-00.88|+00.39|-03.42.png", "options": ["Cabinet", "Fork", "Cabinet", "Spoon"]} diff --git a/train/FloorPlan23/1/questions_distance.jsonl b/train/FloorPlan23/1/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c23d2b744ace84b82aecd241f54d90173a9e850 --- /dev/null +++ b/train/FloorPlan23/1/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4597, "folder_dir": "FloorPlan23/1", "query": "Which of the following objects is closest to CoffeeMachine 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. PepperShaker\nB. ButterKnife\nC. CounterTop\nD. Other\n", "answer": "A", "src_object": "CoffeeMachine", "target_object": "PepperShaker", "question": "Which of the following objects is closest to CoffeeMachine 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": "PepperShaker", "semantic_id": "PepperShaker|-00.44|+00.90|-03.35", "distance": 0.32092812756539024, "com": {"x": -0.4387167692184448, "y": 0.9609774351119995, "z": -3.347060203552246}}, {"text": "ButterKnife", "semantic_id": "ButterKnife|-00.31|+00.91|-03.44", "distance": 0.37211358644755543, "com": {"x": -0.3061050772666931, "y": 0.9072365760803223, "z": -3.4405386447906494}}, {"text": "CounterTop", "semantic_id": "CounterTop|-00.30|+00.95|-02.79", "distance": 0.33693807644203705, "com": {"x": -0.442539244890213, "y": 0.9125118255615234, "z": -2.964104652404785}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/1/rgb_0.png", "image_2": "FloorPlan23/1/rgb_1.png"} +{"id": 4598, "folder_dir": "FloorPlan23/1", "query": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Toaster\nB. PepperShaker\nC. CoffeeMachine\nD. Other\n", "answer": "A", "src_object": "CounterTop", "target_object": "Toaster", "question": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Toaster", "semantic_id": "Toaster|-00.18|+00.90|-02.76", "distance": 0.32551581694460907, "com": {"x": -0.19870756566524506, "y": 0.9931158423423767, "z": -2.76408052444458}}, {"text": "PepperShaker", "semantic_id": "PepperShaker|-00.44|+00.90|-03.35", "distance": 0.3860291190882056, "com": {"x": -0.4387167692184448, "y": 0.9609774351119995, "z": -3.347060203552246}}, {"text": "CoffeeMachine", "semantic_id": "CoffeeMachine|-00.15|+00.90|-03.14", "distance": 0.33693807644203705, "com": {"x": -0.2524435818195343, "y": 1.1250267028808594, "z": -3.143627166748047}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/1/rgb_0.png", "image_2": "FloorPlan23/1/rgb_1.png"} diff --git a/train/FloorPlan23/1/rgb_0.png b/train/FloorPlan23/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a756d98584d394222d4cefd969796aeefa6f1858 --- /dev/null +++ b/train/FloorPlan23/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38087743aaf049296d09239d6b80e61dc828fe2a3ac0ee5469e0c15ba1d5b54c +size 781511 diff --git a/train/FloorPlan23/1/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png b/train/FloorPlan23/1/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png new file mode 100644 index 0000000000000000000000000000000000000000..df6ecc58c73e3e6ac249037f4a801f3c1fec5cab --- /dev/null +++ b/train/FloorPlan23/1/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f96ee92ca014e5adaa7d0b34c4a6fd2b6a9f2a1eeee1afa0fa4d46b3183b672 +size 666453 diff --git a/train/FloorPlan23/1/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png b/train/FloorPlan23/1/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png new file mode 100644 index 0000000000000000000000000000000000000000..4024fe2ad7f10a9a9cc4d134cec7a16f8b2ab067 --- /dev/null +++ b/train/FloorPlan23/1/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21a159f258673b55d66a4fa37e8ae87c8e110b08525d03f811c454e93fdc9f00 +size 684185 diff --git a/train/FloorPlan23/1/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png b/train/FloorPlan23/1/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png new file mode 100644 index 0000000000000000000000000000000000000000..db5d15e5a8ca620884306521bb579d672fb83ae7 --- /dev/null +++ b/train/FloorPlan23/1/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:958e117e51c38e99e95b8e9e2cdd620e7cbe50600061972e1178117840fcfb8b +size 689467 diff --git a/train/FloorPlan23/1/rgb_0_mask_Cabinet|-00.88|+00.39|-03.42.png b/train/FloorPlan23/1/rgb_0_mask_Cabinet|-00.88|+00.39|-03.42.png new file mode 100644 index 0000000000000000000000000000000000000000..5806ee7db6a2090e95b71daab18919f1f0813cc6 --- /dev/null +++ b/train/FloorPlan23/1/rgb_0_mask_Cabinet|-00.88|+00.39|-03.42.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:762560fa0472d5f6bf3b17dd40b5674771c19784ff0edc4ac4849e6e6be77262 +size 687632 diff --git a/train/FloorPlan23/1/rgb_0_mask_Toaster|-00.18|+00.90|-02.76.png b/train/FloorPlan23/1/rgb_0_mask_Toaster|-00.18|+00.90|-02.76.png new file mode 100644 index 0000000000000000000000000000000000000000..c3ceba84d67cfdf6518849fb1e23ba032b6cc36b --- /dev/null +++ b/train/FloorPlan23/1/rgb_0_mask_Toaster|-00.18|+00.90|-02.76.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:476acbf4f150654b8d7e25facf11566d8ab11b13d7bf2cfa005a703dceb19bc2 +size 685460 diff --git a/train/FloorPlan23/1/rgb_1.png b/train/FloorPlan23/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a08edc352fb8bd3540a7260213efb6eebd0a0412 --- /dev/null +++ b/train/FloorPlan23/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddf7e5fc44c0466fde7a18a120828f60cdee951a220928819545f768710c5c09 +size 802884 diff --git a/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png b/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png new file mode 100644 index 0000000000000000000000000000000000000000..4f61ac3e4912f258e51b8db1aaed23874ad816c7 --- /dev/null +++ b/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43b975cf148e9375f471934066fae3ac1a1e8b97abdd7472cafd678bcb3d6304 +size 698829 diff --git a/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png b/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png new file mode 100644 index 0000000000000000000000000000000000000000..c4a4396255867733abf44799c3b9b435af05e24c --- /dev/null +++ b/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58283fa4d40680f7f7f46ef7f677acd0e2e0affca47eed02fcdeab241b4be3a4 +size 705266 diff --git a/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png b/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png new file mode 100644 index 0000000000000000000000000000000000000000..28a25ed7c151dfd85b258c1a829dedaf96d2083c --- /dev/null +++ b/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9df7384e0a78cc2915ee4f5e6f60e4c2857c86099269c9c51b2b23775e61cc7f +size 700724 diff --git a/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png b/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png new file mode 100644 index 0000000000000000000000000000000000000000..dad70e221c85e1d9ba7acd066d6cb1c778f21405 --- /dev/null +++ b/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52d76ebc346f3d0d1f607adb31568d7c5c5e03f4c30b4f9656c43184b7efd8e5 +size 703028 diff --git a/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png b/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png new file mode 100644 index 0000000000000000000000000000000000000000..c34e503828ff61918fda989ee5770c3c21ec016b --- /dev/null +++ b/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:694f1376061d4559cbd416b6d3bc1cea7afd1530521bd0596477171b01229e3e +size 708607 diff --git a/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.88|+00.39|-03.42.png b/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.88|+00.39|-03.42.png new file mode 100644 index 0000000000000000000000000000000000000000..c837c311de38757225e98941858df172219fd7a5 --- /dev/null +++ b/train/FloorPlan23/1/rgb_1_mask_Cabinet|-00.88|+00.39|-03.42.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ae8c26c4ba4a579d04d7a05a2dda7b8195f9e5bd77caf1bb4239bf6cad393aa +size 705461 diff --git a/train/FloorPlan23/1/semantic_0.png b/train/FloorPlan23/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..03f525ade770a48a34a0b882fbcd7e5cb1d2d837 Binary files /dev/null and b/train/FloorPlan23/1/semantic_0.png differ diff --git a/train/FloorPlan23/1/semantic_1.png b/train/FloorPlan23/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..923e289ed1d253449a04d017e524c6e209a04eb8 Binary files /dev/null and b/train/FloorPlan23/1/semantic_1.png differ diff --git a/train/FloorPlan23/10/0.json b/train/FloorPlan23/10/0.json new file mode 100644 index 0000000000000000000000000000000000000000..bdde4045ba8f1a1d79da1ebd2b6c778b46df9ba9 --- /dev/null +++ b/train/FloorPlan23/10/0.json @@ -0,0 +1,4752 @@ +{ + "object": [ + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Potato|-02.08|+00.95|-01.60", + "object_info": { + "name": "Potato_097cac87", + "position": { + "x": -2.0824663639068604, + "y": 0.9517925977706909, + "z": -1.595628023147583 + }, + "rotation": { + "x": 0.09599222987890244, + "y": 295.7773132324219, + "z": 0.3481499254703522 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": true, + "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": 0.18000000715255737, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.42998206615448, + "objectType": "Potato", + "objectId": "Potato|-02.08|+00.95|-01.60", + "assetId": "Potato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0365054607391357, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.6359621286392212 + ] + ], + "center": { + "x": -2.084045886993408, + "y": 0.9514029026031494, + "z": -1.5954636335372925 + }, + "size": { + "x": 0.09508085250854492, + "y": 0.0678938627243042, + "z": 0.08099699020385742 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.11331844329834, + 0.9176058173179626, + -1.5434285402297974 + ], + [ + -2.1428205966949463, + 0.9171935319900513, + -1.6045199632644653 + ], + [ + -2.0544910430908203, + 0.9173579216003418, + -1.64717698097229 + ], + [ + -2.024988889694214, + 0.9177701473236084, + -1.586085557937622 + ], + [ + -2.113600015640259, + 0.9854477643966675, + -1.5437504053115845 + ], + [ + -2.1431021690368652, + 0.9850355386734009, + -1.6048418283462524 + ], + [ + -2.0547726154327393, + 0.9851998686790466, + -1.6474988460540771 + ], + [ + -2.025270462036133, + 0.985612154006958, + -1.5864073038101196 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.5999999046325684, + "y": 0.9009993076324463, + "z": -3.1000001430511475 + }, + "agent_rotation": { + "x": -0.0, + "y": 65.00000762939453, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.5999999046325684, + "y": 1.5759992599487305, + "z": -3.1000001430511475 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Sink|-00.35|+00.91|-02.01", + "Pot|-02.24|+00.92|-01.88", + "CounterTop|-00.30|+00.95|-02.79", + "Pan|-02.17|+00.92|-01.10", + "Sink|-00.35|+00.91|-02.01|SinkBasin", + "Faucet|-00.08|+00.90|-02.03", + "Cabinet|-00.58|+00.39|-02.20", + "Cabinet|-00.31|+02.14|-01.54", + "Knife|-02.27|+00.92|-02.14", + "CoffeeMachine|-00.15|+00.90|-03.14", + "StoveBurner|-01.52|+00.93|-03.50", + "Drawer|-00.45|+00.78|-03.27", + "DishSponge|-00.07|+00.91|-01.69", + "Cabinet|-00.58|+00.39|-01.80", + "Toaster|-00.18|+00.90|-02.76", + "Plate|-02.12|+00.92|-02.42", + "Cabinet|-00.31|+02.14|-02.48", + "DiningTable|-02.43|+00.00|-01.69", + "Cabinet|-00.58|+00.39|-03.40", + "Spatula|-00.30|+00.91|-02.54" + ], + "different_object": [ + "StoveBurner|-01.52|+00.93|-03.75", + "Cabinet|-01.76|+02.14|-03.69", + "Drawer|-00.75|+00.78|-03.55", + "ButterKnife|-00.31|+00.91|-03.44", + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "SaltShaker|-00.83|+00.90|-03.77", + "Microwave|-01.32|+01.52|-03.80", + "Potato|-02.08|+00.95|-01.60", + "StoveBurner|-01.13|+00.93|-03.75", + "Bread|-00.41|+00.95|-03.63", + "PepperShaker|-00.44|+00.90|-03.35", + "Cabinet|-00.88|+02.14|-03.69" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/10/0_depth_npy.npy b/train/FloorPlan23/10/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..bb59eac348d7607b5936f20c9cdb647fb8a80ec6 --- /dev/null +++ b/train/FloorPlan23/10/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2a01a6a6d0cceb5b700aad165d6f7d8ee2f9b673178088c5d12f331895c652d +size 3145856 diff --git a/train/FloorPlan23/10/0_semantic_sensor_npy.npy b/train/FloorPlan23/10/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3825d0c829aae4d5f2904b7219038d92ce8d7af8 --- /dev/null +++ b/train/FloorPlan23/10/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb4748cc24194e1b2d50a2c0c229b8af935f4456053b4d4ca611c5dcf83793a0 +size 2359424 diff --git a/train/FloorPlan23/10/1.json b/train/FloorPlan23/10/1.json new file mode 100644 index 0000000000000000000000000000000000000000..0636e4db9964734ab8afd767b363537940a954aa --- /dev/null +++ b/train/FloorPlan23/10/1.json @@ -0,0 +1,5254 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.15|-01.69", + "object_info": { + "name": "Shelf_56e7d2ea", + "position": { + "x": -2.432276487350464, + "y": 0.15027305483818054, + "z": -1.6942251920700073 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.5205506086349487, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.15|-01.69", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0256943702697754, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -2.5611023902893066 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.25202104449272156, + "z": -1.6942222118377686 + }, + "size": { + "x": 0.8131651878356934, + "y": 0.20350056886672974, + "z": 1.7337603569030762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "object_info": { + "name": "LightSwitch_5e61d7a6", + "position": { + "x": -4.323999881744385, + "y": 1.319000005722046, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.475703239440918, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -4.280065059661865, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.280065059661865, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.2377760410308838, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.2377760410308838, + -0.033031947910785675 + ] + ], + "center": { + "x": -4.323999881744385, + "y": 1.3201357126235962, + "z": -0.01651597023010254 + }, + "size": { + "x": 0.08786964416503906, + "y": 0.1647193431854248, + "z": 0.03303195536136627 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -3.0999999046325684, + "y": 0.9009992480278015, + "z": -3.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 32.999996185302734, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -3.0999999046325684, + "y": 1.5759992599487305, + "z": -3.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Sink|-00.35|+00.91|-02.01", + "Pot|-02.24|+00.92|-01.88", + "CounterTop|-00.30|+00.95|-02.79", + "Pan|-02.17|+00.92|-01.10", + "Sink|-00.35|+00.91|-02.01|SinkBasin", + "Faucet|-00.08|+00.90|-02.03", + "Cabinet|-00.58|+00.39|-02.20", + "Cabinet|-00.31|+02.14|-01.54", + "Knife|-02.27|+00.92|-02.14", + "CoffeeMachine|-00.15|+00.90|-03.14", + "StoveBurner|-01.52|+00.93|-03.50", + "Drawer|-00.45|+00.78|-03.27", + "DishSponge|-00.07|+00.91|-01.69", + "Cabinet|-00.58|+00.39|-01.80", + "Toaster|-00.18|+00.90|-02.76", + "Plate|-02.12|+00.92|-02.42", + "Cabinet|-00.31|+02.14|-02.48", + "DiningTable|-02.43|+00.00|-01.69", + "Cabinet|-00.58|+00.39|-03.40", + "Spatula|-00.30|+00.91|-02.54" + ], + "different_object": [ + "Pen|-02.33|+00.92|-00.89", + "WineBottle|-02.44|+00.92|-02.14", + "Apple|-02.66|+00.97|-01.55", + "Chair|-03.24|+00.00|-01.25", + "Bowl|-02.75|+00.92|-01.17", + "Mug|-02.59|+00.92|-02.31", + "Cup|-02.44|+00.92|-02.36", + "Shelf|-02.43|+00.52|-01.69", + "Shelf|-02.43|+00.15|-01.69", + "Bottle|-02.70|+00.92|-00.88", + "Pencil|-02.22|+00.92|-00.86", + "Lettuce|-02.62|+01.01|-01.73", + "Chair|-03.26|+00.00|-02.09", + "LightSwitch|-04.32|+01.32|+00.00", + "Tomato|-02.67|+00.98|-02.01" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/10/1_depth_npy.npy b/train/FloorPlan23/10/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..aac90524e5e5f85d821f45e966a74e656f0624da --- /dev/null +++ b/train/FloorPlan23/10/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26afbb7f7cdc8d7e6ae9ff1a551e19767bd6be7e8615a41baea4c401f3cd4148 +size 3145856 diff --git a/train/FloorPlan23/10/1_semantic_sensor_npy.npy b/train/FloorPlan23/10/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..2ea203c6465e1ec5cfdb35d611320b8b80104155 --- /dev/null +++ b/train/FloorPlan23/10/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87dab6d072c9b9de674f596107109e80e02f75f0125ece54a1b9c8ee861dc52d +size 2359424 diff --git a/train/FloorPlan23/10/depth_0.png b/train/FloorPlan23/10/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..cb64c9f55b04438f6c14ad088bed57677866a1a3 Binary files /dev/null and b/train/FloorPlan23/10/depth_0.png differ diff --git a/train/FloorPlan23/10/depth_1.png b/train/FloorPlan23/10/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9bb7ffe400c092dd3a6419837404db2524ddd6b9 Binary files /dev/null and b/train/FloorPlan23/10/depth_1.png differ diff --git a/train/FloorPlan23/10/mask_questions.jsonl b/train/FloorPlan23/10/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..152377e1a4d550328b6bee9bd21764954f4056bf --- /dev/null +++ b/train/FloorPlan23/10/mask_questions.jsonl @@ -0,0 +1,19 @@ +{"id": 15466, "folder_dir": "FloorPlan23/10", "pair_name": "0-1:Cabinet|-00.30|+01.92|-02.50", "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. Cabinet\nC. Microwave\nD. ButterKnife", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/10/rgb_0.png", "image_2": "FloorPlan23/10/rgb_1.png", "mask_image": "FloorPlan23/10/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png", "options": ["Fridge", "Cabinet", "Microwave", "ButterKnife"]} +{"id": 15467, "folder_dir": "FloorPlan23/10", "pair_name": "0-1:Cabinet|-00.58|+00.39|-02.20", "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. Cabinet\nC. PepperShaker\nD. ButterKnife", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/10/rgb_0.png", "image_2": "FloorPlan23/10/rgb_1.png", "mask_image": "FloorPlan23/10/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png", "options": ["Fridge", "Cabinet", "PepperShaker", "ButterKnife"]} +{"id": 15468, "folder_dir": "FloorPlan23/10", "pair_name": "0-1:Cabinet|-00.31|+02.14|-01.54", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. PepperShaker\nC. Fridge\nD. Bread", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/10/rgb_0.png", "image_2": "FloorPlan23/10/rgb_1.png", "mask_image": "FloorPlan23/10/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png", "options": ["Cabinet", "PepperShaker", "Fridge", "Bread"]} +{"id": 15469, "folder_dir": "FloorPlan23/10", "pair_name": "0-1:CoffeeMachine|-00.15|+00.90|-03.14", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Fridge\nC. CoffeeMachine\nD. ButterKnife", "answer": "C", "object_name": "CoffeeMachine", "image_1": "FloorPlan23/10/rgb_0.png", "image_2": "FloorPlan23/10/rgb_1.png", "mask_image": "FloorPlan23/10/rgb_1_mask_CoffeeMachine|-00.15|+00.90|-03.14.png", "options": ["Cabinet", "Fridge", "CoffeeMachine", "ButterKnife"]} +{"id": 15470, "folder_dir": "FloorPlan23/10", "pair_name": "0-1:Drawer|-00.45|+00.78|-03.27", "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. PepperShaker\nB. Potato\nC. Fridge\nD. Drawer", "answer": "D", "object_name": "Drawer", "image_1": "FloorPlan23/10/rgb_0.png", "image_2": "FloorPlan23/10/rgb_1.png", "mask_image": "FloorPlan23/10/rgb_1_mask_Drawer|-00.45|+00.78|-03.27.png", "options": ["PepperShaker", "Potato", "Fridge", "Drawer"]} +{"id": 15471, "folder_dir": "FloorPlan23/10", "pair_name": "0-1:Cabinet|-00.58|+00.39|-01.80", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. SaltShaker\nB. Fridge\nC. Cabinet\nD. ButterKnife", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/10/rgb_0.png", "image_2": "FloorPlan23/10/rgb_1.png", "mask_image": "FloorPlan23/10/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png", "options": ["SaltShaker", "Fridge", "Cabinet", "ButterKnife"]} +{"id": 15472, "folder_dir": "FloorPlan23/10", "pair_name": "0-1:Toaster|-00.18|+00.90|-02.76", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Toaster\nB. Fridge\nC. StoveBurner\nD. StoveBurner", "answer": "A", "object_name": "Toaster", "image_1": "FloorPlan23/10/rgb_0.png", "image_2": "FloorPlan23/10/rgb_1.png", "mask_image": "FloorPlan23/10/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png", "options": ["Toaster", "Fridge", "StoveBurner", "StoveBurner"]} +{"id": 15473, "folder_dir": "FloorPlan23/10", "pair_name": "0-1:Cabinet|-00.31|+02.14|-02.48", "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. Fridge\nB. Drawer\nC. StoveBurner\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/10/rgb_0.png", "image_2": "FloorPlan23/10/rgb_1.png", "mask_image": "FloorPlan23/10/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png", "options": ["Fridge", "Drawer", "StoveBurner", "Cabinet"]} +{"id": 15474, "folder_dir": "FloorPlan23/10", "pair_name": "1-0:Fridge|-00.33|+00.00|-00.77", "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. Bowl\nB. Fridge\nC. Cabinet\nD. Apple", "answer": "B", "object_name": "Fridge", "image_1": "FloorPlan23/10/rgb_1.png", "image_2": "FloorPlan23/10/rgb_0.png", "mask_image": "FloorPlan23/10/rgb_0_mask_Fridge|-00.33|+00.00|-00.77.png", "options": ["Bowl", "Fridge", "Cabinet", "Apple"]} +{"id": 15475, "folder_dir": "FloorPlan23/10", "pair_name": "1-0:Cabinet|-00.30|+01.92|-02.50", "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. Bowl\nB. Bottle\nC. Fridge\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/10/rgb_1.png", "image_2": "FloorPlan23/10/rgb_0.png", "mask_image": "FloorPlan23/10/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png", "options": ["Bowl", "Bottle", "Fridge", "Cabinet"]} +{"id": 15476, "folder_dir": "FloorPlan23/10", "pair_name": "1-0:Cabinet|-00.58|+00.39|-02.20", "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. Mug\nC. Cabinet\nD. Apple", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/10/rgb_1.png", "image_2": "FloorPlan23/10/rgb_0.png", "mask_image": "FloorPlan23/10/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png", "options": ["Fridge", "Mug", "Cabinet", "Apple"]} +{"id": 15477, "folder_dir": "FloorPlan23/10", "pair_name": "1-0:Cabinet|-00.31|+02.14|-01.54", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pencil\nB. Cabinet\nC. LightSwitch\nD. Fridge", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/10/rgb_1.png", "image_2": "FloorPlan23/10/rgb_0.png", "mask_image": "FloorPlan23/10/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png", "options": ["Pencil", "Cabinet", "LightSwitch", "Fridge"]} +{"id": 15478, "folder_dir": "FloorPlan23/10", "pair_name": "1-0:CoffeeMachine|-00.15|+00.90|-03.14", "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. Pencil\nC. Chair\nD. CoffeeMachine", "answer": "D", "object_name": "CoffeeMachine", "image_1": "FloorPlan23/10/rgb_1.png", "image_2": "FloorPlan23/10/rgb_0.png", "mask_image": "FloorPlan23/10/rgb_0_mask_CoffeeMachine|-00.15|+00.90|-03.14.png", "options": ["Fridge", "Pencil", "Chair", "CoffeeMachine"]} +{"id": 15479, "folder_dir": "FloorPlan23/10", "pair_name": "1-0:Drawer|-00.45|+00.78|-03.27", "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. Cup\nC. LightSwitch\nD. Drawer", "answer": "D", "object_name": "Drawer", "image_1": "FloorPlan23/10/rgb_1.png", "image_2": "FloorPlan23/10/rgb_0.png", "mask_image": "FloorPlan23/10/rgb_0_mask_Drawer|-00.45|+00.78|-03.27.png", "options": ["Fridge", "Cup", "LightSwitch", "Drawer"]} +{"id": 15480, "folder_dir": "FloorPlan23/10", "pair_name": "1-0:Cabinet|-00.58|+00.39|-01.80", "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. Shelf\nB. Cabinet\nC. Bowl\nD. Fridge", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/10/rgb_1.png", "image_2": "FloorPlan23/10/rgb_0.png", "mask_image": "FloorPlan23/10/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png", "options": ["Shelf", "Cabinet", "Bowl", "Fridge"]} +{"id": 15481, "folder_dir": "FloorPlan23/10", "pair_name": "1-0:Toaster|-00.18|+00.90|-02.76", "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. Cup\nB. Apple\nC. Fridge\nD. Toaster", "answer": "D", "object_name": "Toaster", "image_1": "FloorPlan23/10/rgb_1.png", "image_2": "FloorPlan23/10/rgb_0.png", "mask_image": "FloorPlan23/10/rgb_0_mask_Toaster|-00.18|+00.90|-02.76.png", "options": ["Cup", "Apple", "Fridge", "Toaster"]} +{"id": 15482, "folder_dir": "FloorPlan23/10", "pair_name": "1-0:Plate|-02.12|+00.92|-02.42", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plate\nB. WineBottle\nC. Apple\nD. Fridge", "answer": "A", "object_name": "Plate", "image_1": "FloorPlan23/10/rgb_1.png", "image_2": "FloorPlan23/10/rgb_0.png", "mask_image": "FloorPlan23/10/rgb_0_mask_Plate|-02.12|+00.92|-02.42.png", "options": ["Plate", "WineBottle", "Apple", "Fridge"]} +{"id": 15483, "folder_dir": "FloorPlan23/10", "pair_name": "1-0:Cabinet|-00.31|+02.14|-02.48", "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. Apple\nB. Fridge\nC. Cabinet\nD. Lettuce", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/10/rgb_1.png", "image_2": "FloorPlan23/10/rgb_0.png", "mask_image": "FloorPlan23/10/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png", "options": ["Apple", "Fridge", "Cabinet", "Lettuce"]} +{"id": 15484, "folder_dir": "FloorPlan23/10", "pair_name": "1-0:Cabinet|-00.58|+00.39|-03.40", "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. Lettuce\nB. Fridge\nC. Chair\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/10/rgb_1.png", "image_2": "FloorPlan23/10/rgb_0.png", "mask_image": "FloorPlan23/10/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png", "options": ["Lettuce", "Fridge", "Chair", "Cabinet"]} diff --git a/train/FloorPlan23/10/questions_distance.jsonl b/train/FloorPlan23/10/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ded5b8020285f448f662764478034244e0debeca --- /dev/null +++ b/train/FloorPlan23/10/questions_distance.jsonl @@ -0,0 +1,3 @@ +{"id": 4602, "folder_dir": "FloorPlan23/10", "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. Faucet\nB. DishSponge\nC. SoapBottle\nD. Other\n", "answer": "B", "src_object": "Fridge", "target_object": "DishSponge", "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": "Faucet", "semantic_id": "Faucet|-00.08|+00.90|-02.03", "distance": 1.2748797529870763, "com": {"x": -0.1677103042602539, "y": 0.9829331636428833, "z": -2.0341999530792236}}, {"text": "DishSponge", "semantic_id": "DishSponge|-00.07|+00.91|-01.69", "distance": 0.9572340251047243, "com": {"x": -0.07007645070552826, "y": 0.9169249534606934, "z": -1.6864699125289917}}, {"text": "SoapBottle", "semantic_id": "SoapBottle|-00.18|+00.90|-02.46", "distance": 1.6943977353944495, "com": {"x": -0.183001309633255, "y": 1.0065033435821533, "z": -2.458003520965576}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/10/rgb_0.png", "image_2": "FloorPlan23/10/rgb_1.png"} +{"id": 4603, "folder_dir": "FloorPlan23/10", "query": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. PepperShaker\nB. Toaster\nC. CoffeeMachine\nD. Other\n", "answer": "B", "src_object": "CounterTop", "target_object": "Toaster", "question": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "PepperShaker", "semantic_id": "PepperShaker|-00.44|+00.90|-03.35", "distance": 0.3860291190882056, "com": {"x": -0.4387167692184448, "y": 0.9609774351119995, "z": -3.347060203552246}}, {"text": "Toaster", "semantic_id": "Toaster|-00.18|+00.90|-02.76", "distance": 0.32551581694460907, "com": {"x": -0.19870756566524506, "y": 0.9931158423423767, "z": -2.76408052444458}}, {"text": "CoffeeMachine", "semantic_id": "CoffeeMachine|-00.15|+00.90|-03.14", "distance": 0.33693807644203705, "com": {"x": -0.2524435818195343, "y": 1.1250267028808594, "z": -3.143627166748047}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/10/rgb_0.png", "image_2": "FloorPlan23/10/rgb_1.png"} +{"id": 4604, "folder_dir": "FloorPlan23/10", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pot\nB. Lettuce\nC. Apple\nD. Other\n", "answer": "B", "src_object": "DiningTable", "target_object": "Lettuce", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pot", "semantic_id": "Pot|-02.24|+00.92|-01.88", "distance": 0.5858293435623843, "com": {"x": -2.238513231277466, "y": 0.9807913899421692, "z": -1.8819752931594849}}, {"text": "Lettuce", "semantic_id": "Lettuce|-02.62|+01.01|-01.73", "distance": 0.5853301333959219, "com": {"x": -2.620821714401245, "y": 1.0096420049667358, "z": -1.7274253368377686}}, {"text": "Apple", "semantic_id": "Apple|-02.66|+00.97|-01.55", "distance": 0.58665562724534, "com": {"x": -2.66848087310791, "y": 0.9702385067939758, "z": -1.5395169258117676}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/10/rgb_0.png", "image_2": "FloorPlan23/10/rgb_1.png"} diff --git a/train/FloorPlan23/10/rgb_0.png b/train/FloorPlan23/10/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..599456c631190b28bf4a735d2698a3a52fc283e3 --- /dev/null +++ b/train/FloorPlan23/10/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41fac74e7f26523773e8d2e85c98612811aaabfbffc6776458cd1d0ad74977ed +size 822484 diff --git a/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png b/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png new file mode 100644 index 0000000000000000000000000000000000000000..000394286defc56d22875784d7023cc4cf35e5ed --- /dev/null +++ b/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c74c84d919e515f6a4f7138873fa9e015c6f49bc6e3b3d2b058aef00093d4a49 +size 710513 diff --git a/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png b/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png new file mode 100644 index 0000000000000000000000000000000000000000..c7270b7c04461dcfcdacd65e58dded14a0941edc --- /dev/null +++ b/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:399fd7c5e6c49f16d3bb7a75a7b5479e1b98c9f277ee2c9564b2238c08b0ca67 +size 724878 diff --git a/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png b/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png new file mode 100644 index 0000000000000000000000000000000000000000..be5572c8ac759ad94d3df83cdce2b93778685298 --- /dev/null +++ b/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cfdce054773ce43150290d9a5276d8db471f7474d176556fc2559469e1183fb +size 721246 diff --git a/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png b/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png new file mode 100644 index 0000000000000000000000000000000000000000..90cb9aeb29f9f2f88d5b57fe864d6dcfb9ddd4b5 --- /dev/null +++ b/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a504011cc52fec01ae86c286cf2e5f0da76875784606cafef0249c95f583467f +size 722998 diff --git a/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png b/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png new file mode 100644 index 0000000000000000000000000000000000000000..feb5f290fb69a6e4216e67abba753c154efe77ef --- /dev/null +++ b/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cdae98969757f857cfffd3112dd632c465291fc95ee5221f03d8498b9c1063fd +size 721761 diff --git a/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png b/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png new file mode 100644 index 0000000000000000000000000000000000000000..0f753b2a736d7a77d4ead4ca290a15fe8066cd83 --- /dev/null +++ b/train/FloorPlan23/10/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:678883e235c2909d7a0dc3a554d213f762751b05823bfeb8f77d2ae96de17dd6 +size 720215 diff --git a/train/FloorPlan23/10/rgb_0_mask_CoffeeMachine|-00.15|+00.90|-03.14.png b/train/FloorPlan23/10/rgb_0_mask_CoffeeMachine|-00.15|+00.90|-03.14.png new file mode 100644 index 0000000000000000000000000000000000000000..a15a05771508ebbfa5d82e9028d709e08ac0bdb8 --- /dev/null +++ b/train/FloorPlan23/10/rgb_0_mask_CoffeeMachine|-00.15|+00.90|-03.14.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52285eb09b11afb06e1062d06c2e47ed547799daacc50e00fc874160129927cd +size 724044 diff --git a/train/FloorPlan23/10/rgb_0_mask_Drawer|-00.45|+00.78|-03.27.png b/train/FloorPlan23/10/rgb_0_mask_Drawer|-00.45|+00.78|-03.27.png new file mode 100644 index 0000000000000000000000000000000000000000..ebed2a0cf5bcc3491265ca9c9a51fc4faed733b8 --- /dev/null +++ b/train/FloorPlan23/10/rgb_0_mask_Drawer|-00.45|+00.78|-03.27.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f029d420b65968cfa8fcce27987f3a35418440ceb11c36c43c92a03e5025f886 +size 725303 diff --git a/train/FloorPlan23/10/rgb_0_mask_Fridge|-00.33|+00.00|-00.77.png b/train/FloorPlan23/10/rgb_0_mask_Fridge|-00.33|+00.00|-00.77.png new file mode 100644 index 0000000000000000000000000000000000000000..92dd0296d381aea69ad686c648dd56ff427ec5dc --- /dev/null +++ b/train/FloorPlan23/10/rgb_0_mask_Fridge|-00.33|+00.00|-00.77.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f723c795f15d9187d35d8ed29548308dca01f3d37be4105f90bca7454f0dd20f +size 701486 diff --git a/train/FloorPlan23/10/rgb_0_mask_Plate|-02.12|+00.92|-02.42.png b/train/FloorPlan23/10/rgb_0_mask_Plate|-02.12|+00.92|-02.42.png new file mode 100644 index 0000000000000000000000000000000000000000..7d3a9f07c44eaeff8b64a7a7b7fad57f07806e17 --- /dev/null +++ b/train/FloorPlan23/10/rgb_0_mask_Plate|-02.12|+00.92|-02.42.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1e68ee0fa676c9e4f338320aff768ff5f313e74402d2866db2f3d573465f780 +size 715279 diff --git a/train/FloorPlan23/10/rgb_0_mask_Toaster|-00.18|+00.90|-02.76.png b/train/FloorPlan23/10/rgb_0_mask_Toaster|-00.18|+00.90|-02.76.png new file mode 100644 index 0000000000000000000000000000000000000000..966b908272f8cf0dd2af535c0142d25d8dd127c7 --- /dev/null +++ b/train/FloorPlan23/10/rgb_0_mask_Toaster|-00.18|+00.90|-02.76.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86d0c8caaa2ce27fe736c5ea0b3ec0ba7426f266f2cdba3c05870b4c20691463 +size 725071 diff --git a/train/FloorPlan23/10/rgb_1.png b/train/FloorPlan23/10/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..b95c2a847763b926f0b8c3003ce0657d498f27a0 --- /dev/null +++ b/train/FloorPlan23/10/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de33c18f8e58f6d1eb7c1aa80566cf3a5999d851670f021c491ab8f6d1eb0287 +size 842411 diff --git a/train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png b/train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png new file mode 100644 index 0000000000000000000000000000000000000000..824bf1eaa77137e23091d61008b991c48ebec794 --- /dev/null +++ b/train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c65eb2bdecc1686bde9eb1602f8a481334fbfa6ee343e47354264356f93a88e +size 713843 diff --git a/train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png b/train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png new file mode 100644 index 0000000000000000000000000000000000000000..171d7501685d5a27f96d8d25064ffdb17d42a66e --- /dev/null +++ b/train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:487ae4300394baf4c0e6a4802bcc586698500d2055dda2c56d2b91906da95cc7 +size 738923 diff --git a/train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png b/train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png new file mode 100644 index 0000000000000000000000000000000000000000..37c1da72c075de95be57edc90d2e319b8c7365d3 --- /dev/null +++ b/train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5819669c6ae30e049b588bbb013b5f59688a6a2729c38962c0433a33bfd19463 +size 733488 diff --git a/train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png b/train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png new file mode 100644 index 0000000000000000000000000000000000000000..057b8dc04f8f70dacdac0e72079fe7fdfbc80cfb --- /dev/null +++ b/train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f48415bc2a0d0a9c835ee3b0477c3e07ada0f98dd3cf1638ba36cf920634d13a +size 737432 diff --git a/train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png b/train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png new file mode 100644 index 0000000000000000000000000000000000000000..d8e6437d489d94f7dda8909a450a8f0f159c5e82 --- /dev/null +++ b/train/FloorPlan23/10/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9de238030bf0f7fa04b1ffe346ac6dd1df5bbc3a174e9fa11b19cb92a0b8553 +size 735328 diff --git a/train/FloorPlan23/10/rgb_1_mask_CoffeeMachine|-00.15|+00.90|-03.14.png b/train/FloorPlan23/10/rgb_1_mask_CoffeeMachine|-00.15|+00.90|-03.14.png new file mode 100644 index 0000000000000000000000000000000000000000..32b48d6aa504d0b496ed4ce62a8a21da3acc5d45 --- /dev/null +++ b/train/FloorPlan23/10/rgb_1_mask_CoffeeMachine|-00.15|+00.90|-03.14.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab0caefe14e2c956a254cd5bb0b38f61e221de76feab5d7f56229ec09b03886b +size 734498 diff --git a/train/FloorPlan23/10/rgb_1_mask_Drawer|-00.45|+00.78|-03.27.png b/train/FloorPlan23/10/rgb_1_mask_Drawer|-00.45|+00.78|-03.27.png new file mode 100644 index 0000000000000000000000000000000000000000..4bddc7b968fcabcd8220f7f98122d6675bd07dab --- /dev/null +++ b/train/FloorPlan23/10/rgb_1_mask_Drawer|-00.45|+00.78|-03.27.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1a6e5c9151597e9ca3a66f0f10839b470bf9eacb60f39f58127f6438b392482 +size 738817 diff --git a/train/FloorPlan23/10/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png b/train/FloorPlan23/10/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png new file mode 100644 index 0000000000000000000000000000000000000000..b695ba7332e62ceb9c0f2c9fd501660e0cbced64 --- /dev/null +++ b/train/FloorPlan23/10/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7f76e5fd1b25f54fb28cbae325fbc2113bb660b8a3a77726e89c6b89033b707 +size 737454 diff --git a/train/FloorPlan23/10/semantic_0.png b/train/FloorPlan23/10/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e519bef675b3cf554a99abceebb07e63377a689d Binary files /dev/null and b/train/FloorPlan23/10/semantic_0.png differ diff --git a/train/FloorPlan23/10/semantic_1.png b/train/FloorPlan23/10/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e083b363b8a26f78fc6578f379a6c765bdaa7f53 Binary files /dev/null and b/train/FloorPlan23/10/semantic_1.png differ diff --git a/train/FloorPlan23/11/0.json b/train/FloorPlan23/11/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fdbd0688dbf11fcbaa67b9bfd5652e50916fadf8 --- /dev/null +++ b/train/FloorPlan23/11/0.json @@ -0,0 +1,6997 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Shelf|-02.43|+00.15|-01.69", + "object_info": { + "name": "Shelf_56e7d2ea", + "position": { + "x": -2.432276487350464, + "y": 0.15027305483818054, + "z": -1.6942251920700073 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.5205506086349487, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.15|-01.69", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0256943702697754, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -2.5611023902893066 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.25202104449272156, + "z": -1.6942222118377686 + }, + "size": { + "x": 0.8131651878356934, + "y": 0.20350056886672974, + "z": 1.7337603569030762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Potato|-02.08|+00.95|-01.60", + "object_info": { + "name": "Potato_097cac87", + "position": { + "x": -2.0824663639068604, + "y": 0.9517925977706909, + "z": -1.595628023147583 + }, + "rotation": { + "x": 0.09599222987890244, + "y": 295.7773132324219, + "z": 0.3481499254703522 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": true, + "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": 0.18000000715255737, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.42998206615448, + "objectType": "Potato", + "objectId": "Potato|-02.08|+00.95|-01.60", + "assetId": "Potato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0365054607391357, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.6359621286392212 + ] + ], + "center": { + "x": -2.084045886993408, + "y": 0.9514029026031494, + "z": -1.5954636335372925 + }, + "size": { + "x": 0.09508085250854492, + "y": 0.0678938627243042, + "z": 0.08099699020385742 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.11331844329834, + 0.9176058173179626, + -1.5434285402297974 + ], + [ + -2.1428205966949463, + 0.9171935319900513, + -1.6045199632644653 + ], + [ + -2.0544910430908203, + 0.9173579216003418, + -1.64717698097229 + ], + [ + -2.024988889694214, + 0.9177701473236084, + -1.586085557937622 + ], + [ + -2.113600015640259, + 0.9854477643966675, + -1.5437504053115845 + ], + [ + -2.1431021690368652, + 0.9850355386734009, + -1.6048418283462524 + ], + [ + -2.0547726154327393, + 0.9851998686790466, + -1.6474988460540771 + ], + [ + -2.025270462036133, + 0.985612154006958, + -1.5864073038101196 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -4.099999904632568, + "y": 0.9009993672370911, + "z": -2.799999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 81.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -4.099999904632568, + "y": 1.57599937915802, + "z": -2.799999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Sink|-00.35|+00.91|-02.01", + "StoveBurner|-01.52|+00.93|-03.75", + "ButterKnife|-00.31|+00.91|-03.44", + "CounterTop|-00.30|+00.95|-02.79", + "SaltShaker|-00.83|+00.90|-03.77", + "Faucet|-00.08|+00.90|-02.03", + "Cabinet|-00.58|+00.39|-02.20", + "Cabinet|-00.31|+02.14|-01.54", + "Window|-02.50|+01.78|-04.19", + "Cabinet|-01.76|+02.14|-03.69", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.52|+00.93|-03.50", + "Drawer|-00.45|+00.78|-03.27", + "StoveBurner|-01.13|+00.93|-03.75", + "GarbageCan|-01.94|00.00|-03.76", + "PepperShaker|-00.44|+00.90|-03.35", + "Toaster|-00.18|+00.90|-02.76", + "Cabinet|-00.31|+02.14|-02.48", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.58|+00.39|-03.40", + "Cabinet|-00.88|+02.14|-03.69", + "Spatula|-00.30|+00.91|-02.54" + ], + "different_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Apple|-02.66|+00.97|-01.55", + "Bowl|-02.75|+00.92|-01.17", + "Shelf|-02.43|+00.15|-01.69", + "Bottle|-02.70|+00.92|-00.88", + "Pencil|-02.22|+00.92|-00.86", + "Pot|-02.24|+00.92|-01.88", + "Cup|-02.44|+00.92|-02.36", + "Pan|-02.17|+00.92|-01.10", + "Chair|-03.26|+00.00|-02.09", + "Tomato|-02.67|+00.98|-02.01", + "Pen|-02.33|+00.92|-00.89", + "Knife|-02.27|+00.92|-02.14", + "Chair|-03.24|+00.00|-01.25", + "DishSponge|-00.07|+00.91|-01.69", + "Lettuce|-02.62|+01.01|-01.73", + "Cabinet|-00.58|+00.39|-01.80", + "WineBottle|-02.44|+00.92|-02.14", + "Plate|-02.12|+00.92|-02.42", + "Mug|-02.59|+00.92|-02.31", + "Shelf|-02.43|+00.52|-01.69", + "DiningTable|-02.43|+00.00|-01.69", + "Potato|-02.08|+00.95|-01.60", + "Blinds|-02.54|+02.70|-03.96" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/11/0_depth_npy.npy b/train/FloorPlan23/11/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b2893a480042ae9fc3ea0af5426bbf17e2c72df4 --- /dev/null +++ b/train/FloorPlan23/11/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4209a57c351a04c638ba29610bec5c552a9ba2e7cf35c1ae595bf2fb011d00e +size 3145856 diff --git a/train/FloorPlan23/11/0_semantic_sensor_npy.npy b/train/FloorPlan23/11/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..714e06f8ca39ccb11e4c8738373654edc5fee728 --- /dev/null +++ b/train/FloorPlan23/11/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c00166efab8c0e4683eb19208e35f96850cf6fe4710cecc15ddfe68e986152f8 +size 2359424 diff --git a/train/FloorPlan23/11/1.json b/train/FloorPlan23/11/1.json new file mode 100644 index 0000000000000000000000000000000000000000..e3262b2c5554816232d599f2e1f4f38091806433 --- /dev/null +++ b/train/FloorPlan23/11/1.json @@ -0,0 +1,3950 @@ +{ + "object": [ + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "object_info": { + "name": "Cabinet_b8c26787", + "position": { + "x": -0.8778074383735657, + "y": 0.3888453543186188, + "z": -3.422300100326538 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.647717237472534, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6206655502319336, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.739914894104004 + ] + ], + "center": { + "x": -0.749236524105072, + "y": 0.3888453245162964, + "z": -3.5777101516723633 + }, + "size": { + "x": 0.25714194774627686, + "y": 0.6573984622955322, + "z": 0.32440948486328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Spoon|-00.33|+00.79|-02.12", + "object_info": { + "name": "Spoon_ef4541de", + "position": { + "x": -0.32795315980911255, + "y": 0.7871569991111755, + "z": -2.1250267028808594 + }, + "rotation": { + "x": 0.3525198698043823, + "y": 33.92948532104492, + "z": 0.8351927399635315 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.129457950592041, + "objectType": "Spoon", + "objectId": "Spoon|-00.33|+00.79|-02.12", + "assetId": "Spoon_1", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26713094115257263, + 0.8056613206863403, + -2.0415267944335938 + ], + [ + -0.26713094115257263, + 0.8056613206863403, + -2.2291860580444336 + ], + [ + -0.26713094115257263, + 0.7863336801528931, + -2.0415267944335938 + ], + [ + -0.26713094115257263, + 0.7863336801528931, + -2.2291860580444336 + ], + [ + -0.40064141154289246, + 0.8056613206863403, + -2.0415267944335938 + ], + [ + -0.40064141154289246, + 0.8056613206863403, + -2.2291860580444336 + ], + [ + -0.40064141154289246, + 0.7863336801528931, + -2.0415267944335938 + ], + [ + -0.40064141154289246, + 0.7863336801528931, + -2.2291860580444336 + ] + ], + "center": { + "x": -0.33388617634773254, + "y": 0.7959975004196167, + "z": -2.1353564262390137 + }, + "size": { + "x": 0.13351047039031982, + "y": 0.019327640533447266, + "z": 0.18765926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.2613292932510376, + 0.7864380478858948, + -2.061155319213867 + ], + [ + -0.2956712245941162, + 0.7858347296714783, + -2.038057327270508 + ], + [ + -0.41144806146621704, + 0.7871109247207642, + -2.21016001701355 + ], + [ + -0.3771061301231384, + 0.7877142429351807, + -2.233258008956909 + ], + [ + -0.26149433851242065, + 0.8054919838905334, + -2.0609030723571777 + ], + [ + -0.29583626985549927, + 0.8048886656761169, + -2.0378048419952393 + ], + [ + -0.4116131067276001, + 0.8061648607254028, + -2.2099077701568604 + ], + [ + -0.3772711455821991, + 0.8067681789398193, + -2.2330057621002197 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.5, + "y": 0.9009994864463806, + "z": -2.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 140.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.5, + "y": 1.5759994983673096, + "z": -2.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Sink|-00.35|+00.91|-02.01", + "StoveBurner|-01.52|+00.93|-03.75", + "ButterKnife|-00.31|+00.91|-03.44", + "CounterTop|-00.30|+00.95|-02.79", + "SaltShaker|-00.83|+00.90|-03.77", + "Faucet|-00.08|+00.90|-02.03", + "Cabinet|-00.58|+00.39|-02.20", + "Cabinet|-00.31|+02.14|-01.54", + "Window|-02.50|+01.78|-04.19", + "Cabinet|-01.76|+02.14|-03.69", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.52|+00.93|-03.50", + "Drawer|-00.45|+00.78|-03.27", + "StoveBurner|-01.13|+00.93|-03.75", + "GarbageCan|-01.94|00.00|-03.76", + "PepperShaker|-00.44|+00.90|-03.35", + "Toaster|-00.18|+00.90|-02.76", + "Cabinet|-00.31|+02.14|-02.48", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.58|+00.39|-03.40", + "Cabinet|-00.88|+02.14|-03.69", + "Spatula|-00.30|+00.91|-02.54" + ], + "different_object": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin", + "Cabinet|-00.88|+00.39|-03.42", + "Spoon|-00.33|+00.79|-02.12", + "Drawer|-00.75|+00.78|-03.55" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/11/1_depth_npy.npy b/train/FloorPlan23/11/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a40a4c9b572e7d749ca865a3e72ea6cc4c3265cd --- /dev/null +++ b/train/FloorPlan23/11/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:099db665978b19799cd3d9e975d7ee2c602f402415ac7bddb515172f8fab035a +size 3145856 diff --git a/train/FloorPlan23/11/1_semantic_sensor_npy.npy b/train/FloorPlan23/11/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..59d4dc4dfad05bcd6686e924277d67585676ee0f --- /dev/null +++ b/train/FloorPlan23/11/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab9da75d800625e17348a3eb6171294904120593c57deb16d9322e995118b698 +size 2359424 diff --git a/train/FloorPlan23/11/depth_0.png b/train/FloorPlan23/11/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..4909e97c7cf09417b5b9b8e95c0f8ebf5f92fd87 Binary files /dev/null and b/train/FloorPlan23/11/depth_0.png differ diff --git a/train/FloorPlan23/11/depth_1.png b/train/FloorPlan23/11/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..aedefcd00616683c3f65e112dbc69b27c737eaa0 Binary files /dev/null and b/train/FloorPlan23/11/depth_1.png differ diff --git a/train/FloorPlan23/11/mask_questions.jsonl b/train/FloorPlan23/11/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e97c6da9f160a1cd1409925ab3ac31b2c6316230 --- /dev/null +++ b/train/FloorPlan23/11/mask_questions.jsonl @@ -0,0 +1,15 @@ +{"id": 15451, "folder_dir": "FloorPlan23/11", "pair_name": "0-1:Cabinet|-00.33|+01.92|-03.39", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Apple\nC. StoveBurner\nD. Cup", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/11/rgb_0.png", "image_2": "FloorPlan23/11/rgb_1.png", "mask_image": "FloorPlan23/11/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png", "options": ["Cabinet", "Apple", "StoveBurner", "Cup"]} +{"id": 15452, "folder_dir": "FloorPlan23/11", "pair_name": "0-1:Cabinet|-00.30|+01.92|-02.50", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Mug\nC. Plate\nD. StoveBurner", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/11/rgb_0.png", "image_2": "FloorPlan23/11/rgb_1.png", "mask_image": "FloorPlan23/11/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png", "options": ["Cabinet", "Mug", "Plate", "StoveBurner"]} +{"id": 15453, "folder_dir": "FloorPlan23/11", "pair_name": "0-1:Cabinet|-00.31|+02.14|-01.54", "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. Pan\nB. Cabinet\nC. Mug\nD. StoveBurner", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/11/rgb_0.png", "image_2": "FloorPlan23/11/rgb_1.png", "mask_image": "FloorPlan23/11/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png", "options": ["Pan", "Cabinet", "Mug", "StoveBurner"]} +{"id": 15454, "folder_dir": "FloorPlan23/11", "pair_name": "0-1:Window|-02.50|+01.78|-04.19", "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. StoveBurner\nC. Shelf\nD. WineBottle", "answer": "A", "object_name": "Window", "image_1": "FloorPlan23/11/rgb_0.png", "image_2": "FloorPlan23/11/rgb_1.png", "mask_image": "FloorPlan23/11/rgb_1_mask_Window|-02.50|+01.78|-04.19.png", "options": ["Window", "StoveBurner", "Shelf", "WineBottle"]} +{"id": 15455, "folder_dir": "FloorPlan23/11", "pair_name": "0-1:Cabinet|-01.76|+02.14|-03.69", "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. StoveBurner\nB. Cabinet\nC. Pot\nD. Shelf", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/11/rgb_0.png", "image_2": "FloorPlan23/11/rgb_1.png", "mask_image": "FloorPlan23/11/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png", "options": ["StoveBurner", "Cabinet", "Pot", "Shelf"]} +{"id": 15456, "folder_dir": "FloorPlan23/11", "pair_name": "0-1:Microwave|-01.32|+01.52|-03.80", "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. StoveBurner\nC. Plate\nD. Microwave", "answer": "D", "object_name": "Microwave", "image_1": "FloorPlan23/11/rgb_0.png", "image_2": "FloorPlan23/11/rgb_1.png", "mask_image": "FloorPlan23/11/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png", "options": ["Chair", "StoveBurner", "Plate", "Microwave"]} +{"id": 15457, "folder_dir": "FloorPlan23/11", "pair_name": "0-1:GarbageCan|-01.94|00.00|-03.76", "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. Tomato\nB. Bowl\nC. StoveBurner\nD. GarbageCan", "answer": "D", "object_name": "GarbageCan", "image_1": "FloorPlan23/11/rgb_0.png", "image_2": "FloorPlan23/11/rgb_1.png", "mask_image": "FloorPlan23/11/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png", "options": ["Tomato", "Bowl", "StoveBurner", "GarbageCan"]} +{"id": 15458, "folder_dir": "FloorPlan23/11", "pair_name": "0-1:Cabinet|-00.58|+00.39|-03.40", "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. Pan\nB. Chair\nC. StoveBurner\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/11/rgb_0.png", "image_2": "FloorPlan23/11/rgb_1.png", "mask_image": "FloorPlan23/11/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png", "options": ["Pan", "Chair", "StoveBurner", "Cabinet"]} +{"id": 15459, "folder_dir": "FloorPlan23/11", "pair_name": "1-0:Cabinet|-00.33|+01.92|-03.39", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. SinkBasin\nB. StoveBurner\nC. Cabinet\nD. Drawer", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/11/rgb_1.png", "image_2": "FloorPlan23/11/rgb_0.png", "mask_image": "FloorPlan23/11/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png", "options": ["SinkBasin", "StoveBurner", "Cabinet", "Drawer"]} +{"id": 15460, "folder_dir": "FloorPlan23/11", "pair_name": "1-0:Cabinet|-00.30|+01.92|-02.50", "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. StoveBurner\nB. Drawer\nC. Cabinet\nD. SinkBasin", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/11/rgb_1.png", "image_2": "FloorPlan23/11/rgb_0.png", "mask_image": "FloorPlan23/11/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png", "options": ["StoveBurner", "Drawer", "Cabinet", "SinkBasin"]} +{"id": 15461, "folder_dir": "FloorPlan23/11", "pair_name": "1-0:Cabinet|-01.76|+02.14|-03.69", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. SinkBasin\nB. Cabinet\nC. Spoon\nD. StoveBurner", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/11/rgb_1.png", "image_2": "FloorPlan23/11/rgb_0.png", "mask_image": "FloorPlan23/11/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png", "options": ["SinkBasin", "Cabinet", "Spoon", "StoveBurner"]} +{"id": 15462, "folder_dir": "FloorPlan23/11", "pair_name": "1-0:Microwave|-01.32|+01.52|-03.80", "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. Spoon\nB. SinkBasin\nC. StoveBurner\nD. Microwave", "answer": "D", "object_name": "Microwave", "image_1": "FloorPlan23/11/rgb_1.png", "image_2": "FloorPlan23/11/rgb_0.png", "mask_image": "FloorPlan23/11/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png", "options": ["Spoon", "SinkBasin", "StoveBurner", "Microwave"]} +{"id": 15463, "folder_dir": "FloorPlan23/11", "pair_name": "1-0:GarbageCan|-01.94|00.00|-03.76", "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. StoveBurner\nB. SinkBasin\nC. Cabinet\nD. GarbageCan", "answer": "D", "object_name": "GarbageCan", "image_1": "FloorPlan23/11/rgb_1.png", "image_2": "FloorPlan23/11/rgb_0.png", "mask_image": "FloorPlan23/11/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png", "options": ["StoveBurner", "SinkBasin", "Cabinet", "GarbageCan"]} +{"id": 15464, "folder_dir": "FloorPlan23/11", "pair_name": "1-0:Cabinet|-00.31|+02.14|-02.48", "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. StoveBurner\nB. Cabinet\nC. Drawer\nD. Spoon", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/11/rgb_1.png", "image_2": "FloorPlan23/11/rgb_0.png", "mask_image": "FloorPlan23/11/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png", "options": ["StoveBurner", "Cabinet", "Drawer", "Spoon"]} +{"id": 15465, "folder_dir": "FloorPlan23/11", "pair_name": "1-0:Cabinet|-00.58|+00.39|-03.40", "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. Spoon\nB. SinkBasin\nC. Cabinet\nD. StoveBurner", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/11/rgb_1.png", "image_2": "FloorPlan23/11/rgb_0.png", "mask_image": "FloorPlan23/11/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png", "options": ["Spoon", "SinkBasin", "Cabinet", "StoveBurner"]} diff --git a/train/FloorPlan23/11/rgb_0.png b/train/FloorPlan23/11/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6c8e126e3df305972f7b84d49e24315eaafeca35 --- /dev/null +++ b/train/FloorPlan23/11/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bfe430c1076401fe85d7ec2669032d6d763fda5f47eef55f5e2bc8abd198119 +size 826251 diff --git a/train/FloorPlan23/11/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png b/train/FloorPlan23/11/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png new file mode 100644 index 0000000000000000000000000000000000000000..de8ccdffb4a776b3d3762663a054b0f23f233f77 --- /dev/null +++ b/train/FloorPlan23/11/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:368e0be812a39c9b84887ea4003813b0f4e63ee16a21fffbb09e8e41b3c88b80 +size 727822 diff --git a/train/FloorPlan23/11/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png b/train/FloorPlan23/11/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png new file mode 100644 index 0000000000000000000000000000000000000000..8276c313bab383e578683923d3eaf282d9d5fcc3 --- /dev/null +++ b/train/FloorPlan23/11/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72f09df58ba993ceadff4b135fc4a6fd16242f6381e5b87f43140345b8f0ba6e +size 731030 diff --git a/train/FloorPlan23/11/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png b/train/FloorPlan23/11/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png new file mode 100644 index 0000000000000000000000000000000000000000..3c9f263e45df743040ea926794548d09453e4698 --- /dev/null +++ b/train/FloorPlan23/11/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:345bf47f40e3a8aeeb312e474c64deaf3db7571c4af359500f9d9f2cb4c8229f +size 730198 diff --git a/train/FloorPlan23/11/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png b/train/FloorPlan23/11/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png new file mode 100644 index 0000000000000000000000000000000000000000..653a2fac4d45d7a69037f9a108dd84f035819da3 --- /dev/null +++ b/train/FloorPlan23/11/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebdf65bc2c3d9bfdb6b08e82a50750ec20d22eb6a95fd7a66b5a1d3897f3df92 +size 731353 diff --git a/train/FloorPlan23/11/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png b/train/FloorPlan23/11/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png new file mode 100644 index 0000000000000000000000000000000000000000..39021d8591e67aac91719473b171e70f123fbc08 --- /dev/null +++ b/train/FloorPlan23/11/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b863402203dc73d8bf4dd4f1e49e7e0b8396cfefc2d8e167612eee9fc7c02b8e +size 731395 diff --git a/train/FloorPlan23/11/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png b/train/FloorPlan23/11/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png new file mode 100644 index 0000000000000000000000000000000000000000..2d98ba80bc25755b3ab53d4cba13656504664f67 --- /dev/null +++ b/train/FloorPlan23/11/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8a9c2398d55abff5e520f53481a9188309e6e4a0a3c5e949606d3d9a437af0b +size 720167 diff --git a/train/FloorPlan23/11/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png b/train/FloorPlan23/11/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png new file mode 100644 index 0000000000000000000000000000000000000000..d989de4b8b6f4e1e44b11aaa259abbfb6c3228fd --- /dev/null +++ b/train/FloorPlan23/11/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:542870fdb453391a444c50cce8160943017e1fc0ac8c348e9635a2355bc054fa +size 730922 diff --git a/train/FloorPlan23/11/rgb_1.png b/train/FloorPlan23/11/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..5bb968490710e7e0efa6d3c6d71b0018f3a39497 --- /dev/null +++ b/train/FloorPlan23/11/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dda29b5c469a4bb516d51d257f0c8247e179cd52760795fb9ec7c7106f8ac8cc +size 738127 diff --git a/train/FloorPlan23/11/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png b/train/FloorPlan23/11/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png new file mode 100644 index 0000000000000000000000000000000000000000..be1a14923a64a3548917625ad7e2b1a1b77b4fdb --- /dev/null +++ b/train/FloorPlan23/11/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcf36042b2ba218d61eb087a93830e709714beba0e4ce811ddff893841de60cf +size 617985 diff --git a/train/FloorPlan23/11/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png b/train/FloorPlan23/11/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png new file mode 100644 index 0000000000000000000000000000000000000000..82ec12c6c82164fbaccc5cbe50105bdbd00bd805 --- /dev/null +++ b/train/FloorPlan23/11/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fdeb8aaa991cfc6260f03c5c8d4f222241fc4e4106e0af91fa3a416da7c88239 +size 647545 diff --git a/train/FloorPlan23/11/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png b/train/FloorPlan23/11/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png new file mode 100644 index 0000000000000000000000000000000000000000..0c690ce6ef0e3028b02aa5d79858d108ae097468 --- /dev/null +++ b/train/FloorPlan23/11/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5347a63bc91f1a10d77173a83e4dfdfa74c9dfbe7cd9a4f067f3577e8312fd9a +size 644178 diff --git a/train/FloorPlan23/11/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png b/train/FloorPlan23/11/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png new file mode 100644 index 0000000000000000000000000000000000000000..c0a8d3ac8062516398f42e0fb0c59f9aa61724e6 --- /dev/null +++ b/train/FloorPlan23/11/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffee724e23cfc16dba2cfefebea8ecb087ea174494dd92e07e0ce1c8d56c0ce0 +size 651135 diff --git a/train/FloorPlan23/11/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png b/train/FloorPlan23/11/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png new file mode 100644 index 0000000000000000000000000000000000000000..ce1ab0a071a35d3a5d8498d5227c5b41a8f22d6f --- /dev/null +++ b/train/FloorPlan23/11/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45562ccd40f79902325d57ac50369a958756168cc08484dc056320a2303e2a5e +size 624632 diff --git a/train/FloorPlan23/11/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png b/train/FloorPlan23/11/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png new file mode 100644 index 0000000000000000000000000000000000000000..85095ce784a383bd895b3352dd97e7ba07eaf142 --- /dev/null +++ b/train/FloorPlan23/11/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f4cc6c1ff9f5086f971e6c913ce9fcb43fdd27daae9574ebdce65d6804b3498 +size 649689 diff --git a/train/FloorPlan23/11/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png b/train/FloorPlan23/11/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png new file mode 100644 index 0000000000000000000000000000000000000000..a0c4aa1db2bbe7f1bd31e2320ff1123c75a90431 --- /dev/null +++ b/train/FloorPlan23/11/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0ce993c7e68364d551b9f716ed913ce702f639ab998418233248ff37b5db297 +size 622719 diff --git a/train/FloorPlan23/11/rgb_1_mask_Window|-02.50|+01.78|-04.19.png b/train/FloorPlan23/11/rgb_1_mask_Window|-02.50|+01.78|-04.19.png new file mode 100644 index 0000000000000000000000000000000000000000..91d8bba8c35a3e9b4f4b07a746a824bec61635eb --- /dev/null +++ b/train/FloorPlan23/11/rgb_1_mask_Window|-02.50|+01.78|-04.19.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ba3ada86026171bfaaf58833432442629b1799d2bb06a77e87aa0fd76395842 +size 651981 diff --git a/train/FloorPlan23/11/semantic_0.png b/train/FloorPlan23/11/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..221b8f7cba6bd2f3b32beabf0b32872cceffa4c1 Binary files /dev/null and b/train/FloorPlan23/11/semantic_0.png differ diff --git a/train/FloorPlan23/11/semantic_1.png b/train/FloorPlan23/11/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..8f7ab3c33e23abe1a5eaa904c14e41d6cf66a64d Binary files /dev/null and b/train/FloorPlan23/11/semantic_1.png differ diff --git a/train/FloorPlan23/12/0.json b/train/FloorPlan23/12/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a4da33ffc085c298a0779b76d76722a9cc05e4 --- /dev/null +++ b/train/FloorPlan23/12/0.json @@ -0,0 +1,5325 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "object_info": { + "name": "Cabinet_b8c26787", + "position": { + "x": -0.8778074383735657, + "y": 0.3888453543186188, + "z": -3.422300100326538 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.647717237472534, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6206655502319336, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.739914894104004 + ] + ], + "center": { + "x": -0.749236524105072, + "y": 0.3888453245162964, + "z": -3.5777101516723633 + }, + "size": { + "x": 0.25714194774627686, + "y": 0.6573984622955322, + "z": 0.32440948486328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Shelf|-02.43|+00.15|-01.69", + "object_info": { + "name": "Shelf_56e7d2ea", + "position": { + "x": -2.432276487350464, + "y": 0.15027305483818054, + "z": -1.6942251920700073 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.5205506086349487, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.15|-01.69", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0256943702697754, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -2.5611023902893066 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.25202104449272156, + "z": -1.6942222118377686 + }, + "size": { + "x": 0.8131651878356934, + "y": 0.20350056886672974, + "z": 1.7337603569030762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -0.8999998569488525, + "y": 0.9009994864463806, + "z": -1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 199.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -0.8999998569488525, + "y": 1.5759994983673096, + "z": -1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Sink|-00.35|+00.91|-02.01", + "Pot|-02.24|+00.92|-01.88", + "CounterTop|-00.30|+00.95|-02.79", + "Cup|-02.44|+00.92|-02.36", + "Sink|-00.35|+00.91|-02.01|SinkBasin", + "Tomato|-02.67|+00.98|-02.01", + "Cabinet|-00.58|+00.39|-02.20", + "Knife|-02.27|+00.92|-02.14", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Drawer|-00.45|+00.78|-03.27", + "WineBottle|-02.44|+00.92|-02.14", + "Toaster|-00.18|+00.90|-02.76", + "Plate|-02.12|+00.92|-02.42", + "Cabinet|-00.31|+02.14|-02.48", + "DiningTable|-02.43|+00.00|-01.69", + "Cabinet|-00.58|+00.39|-03.40", + "Spatula|-00.30|+00.91|-02.54" + ], + "different_object": [ + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "Shelf|-02.43|+00.15|-01.69", + "StoveBurner|-01.52|+00.93|-03.75", + "Drawer|-00.75|+00.78|-03.55", + "ButterKnife|-00.31|+00.91|-03.44", + "SaltShaker|-00.83|+00.90|-03.77", + "Chair|-03.26|+00.00|-02.09", + "Blinds|-02.54|+02.70|-03.96", + "Window|-02.50|+01.78|-04.19", + "Cabinet|-01.76|+02.14|-03.69", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.52|+00.93|-03.50", + "StoveBurner|-01.13|+00.93|-03.75", + "GarbageCan|-01.94|00.00|-03.76", + "PepperShaker|-00.44|+00.90|-03.35", + "Mug|-02.59|+00.92|-02.31", + "Shelf|-02.43|+00.52|-01.69", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.88|+02.14|-03.69", + "Cabinet|-00.88|+00.39|-03.42" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/12/0_depth_npy.npy b/train/FloorPlan23/12/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3e692a971be74fc6eec28a7e08c485e89399189e --- /dev/null +++ b/train/FloorPlan23/12/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a918170efaebd96fbe2377b42301140a9c9b42ed783e5239553ac0d24e70e56 +size 3145856 diff --git a/train/FloorPlan23/12/0_semantic_sensor_npy.npy b/train/FloorPlan23/12/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..cc74d94734edcba36e7dcc986c709fa4056bad2c --- /dev/null +++ b/train/FloorPlan23/12/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ead511db88ca98b42fb5609185e1ba2c4918e4b284021817e8584aa8c6d67871 +size 2359424 diff --git a/train/FloorPlan23/12/1_depth_npy.npy b/train/FloorPlan23/12/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0347ff429ff7e846333dff25f6f11c27f6d7c77c --- /dev/null +++ b/train/FloorPlan23/12/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f59af689384dcc063636f5a0cb1f6522f2e9d031f870fd504663861003959f2 +size 3145856 diff --git a/train/FloorPlan23/12/1_semantic_sensor_npy.npy b/train/FloorPlan23/12/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0225e5ce2fc7807afd14d21a6b419fe28742d48c --- /dev/null +++ b/train/FloorPlan23/12/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bce8536dbdfbb2ce4f6064450ac681a469bae54631ff10122ea13bb9ca117939 +size 2359424 diff --git a/train/FloorPlan23/12/depth_0.png b/train/FloorPlan23/12/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..9803b210f57766d4e8f7b687c3db04b4df21c355 Binary files /dev/null and b/train/FloorPlan23/12/depth_0.png differ diff --git a/train/FloorPlan23/12/depth_1.png b/train/FloorPlan23/12/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f9822a6e27ca2cf8f45aa97b9309e4dab9c0cbb3 Binary files /dev/null and b/train/FloorPlan23/12/depth_1.png differ diff --git a/train/FloorPlan23/12/mask_questions.jsonl b/train/FloorPlan23/12/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef05939cb0c86e1e8fd78ae27011b56a560e4bd6 --- /dev/null +++ b/train/FloorPlan23/12/mask_questions.jsonl @@ -0,0 +1,10 @@ +{"id": 15558, "folder_dir": "FloorPlan23/12", "pair_name": "0-1:Cabinet|-00.30|+01.92|-02.50", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. SoapBottle\nC. Window\nD. SaltShaker", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/12/rgb_0.png", "image_2": "FloorPlan23/12/rgb_1.png", "mask_image": "FloorPlan23/12/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png", "options": ["Cabinet", "SoapBottle", "Window", "SaltShaker"]} +{"id": 15559, "folder_dir": "FloorPlan23/12", "pair_name": "0-1:Knife|-02.27|+00.92|-02.14", "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. Knife\nB. Cabinet\nC. StoveBurner\nD. StoveBurner", "answer": "A", "object_name": "Knife", "image_1": "FloorPlan23/12/rgb_0.png", "image_2": "FloorPlan23/12/rgb_1.png", "mask_image": "FloorPlan23/12/rgb_1_mask_Knife|-02.27|+00.92|-02.14.png", "options": ["Knife", "Cabinet", "StoveBurner", "StoveBurner"]} +{"id": 15560, "folder_dir": "FloorPlan23/12", "pair_name": "0-1:WineBottle|-02.44|+00.92|-02.14", "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. WineBottle\nD. Cabinet", "answer": "C", "object_name": "WineBottle", "image_1": "FloorPlan23/12/rgb_0.png", "image_2": "FloorPlan23/12/rgb_1.png", "mask_image": "FloorPlan23/12/rgb_1_mask_WineBottle|-02.44|+00.92|-02.14.png", "options": ["Chair", "Window", "WineBottle", "Cabinet"]} +{"id": 15561, "folder_dir": "FloorPlan23/12", "pair_name": "0-1:Toaster|-00.18|+00.90|-02.76", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Toaster\nB. Drawer\nC. StoveBurner\nD. Cabinet", "answer": "A", "object_name": "Toaster", "image_1": "FloorPlan23/12/rgb_0.png", "image_2": "FloorPlan23/12/rgb_1.png", "mask_image": "FloorPlan23/12/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png", "options": ["Toaster", "Drawer", "StoveBurner", "Cabinet"]} +{"id": 15562, "folder_dir": "FloorPlan23/12", "pair_name": "0-1:Plate|-02.12|+00.92|-02.42", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Plate\nC. Blinds\nD. Shelf", "answer": "B", "object_name": "Plate", "image_1": "FloorPlan23/12/rgb_0.png", "image_2": "FloorPlan23/12/rgb_1.png", "mask_image": "FloorPlan23/12/rgb_1_mask_Plate|-02.12|+00.92|-02.42.png", "options": ["Cabinet", "Plate", "Blinds", "Shelf"]} +{"id": 15563, "folder_dir": "FloorPlan23/12", "pair_name": "0-1:Cabinet|-00.31|+02.14|-02.48", "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. ButterKnife\nB. Cabinet\nC. StoveBurner\nD. Cabinet", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/12/rgb_0.png", "image_2": "FloorPlan23/12/rgb_1.png", "mask_image": "FloorPlan23/12/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png", "options": ["ButterKnife", "Cabinet", "StoveBurner", "Cabinet"]} +{"id": 15564, "folder_dir": "FloorPlan23/12", "pair_name": "0-1:Cabinet|-00.58|+00.39|-03.40", "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. Chair\nB. Cabinet\nC. Cabinet\nD. Window", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/12/rgb_0.png", "image_2": "FloorPlan23/12/rgb_1.png", "mask_image": "FloorPlan23/12/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png", "options": ["Chair", "Cabinet", "Cabinet", "Window"]} +{"id": 15565, "folder_dir": "FloorPlan23/12", "pair_name": "1-0:Cabinet|-00.30|+01.92|-02.50", "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. SoapBottle\nB. Cabinet\nC. Bottle\nD. Pencil", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/12/rgb_1.png", "image_2": "FloorPlan23/12/rgb_0.png", "mask_image": "FloorPlan23/12/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png", "options": ["SoapBottle", "Cabinet", "Bottle", "Pencil"]} +{"id": 15566, "folder_dir": "FloorPlan23/12", "pair_name": "1-0:WineBottle|-02.44|+00.92|-02.14", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. WineBottle\nC. Faucet\nD. Fridge", "answer": "B", "object_name": "WineBottle", "image_1": "FloorPlan23/12/rgb_1.png", "image_2": "FloorPlan23/12/rgb_0.png", "mask_image": "FloorPlan23/12/rgb_0_mask_WineBottle|-02.44|+00.92|-02.14.png", "options": ["Cabinet", "WineBottle", "Faucet", "Fridge"]} +{"id": 15567, "folder_dir": "FloorPlan23/12", "pair_name": "1-0:Cabinet|-00.58|+00.39|-03.40", "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. Cabinet\nB. Bowl\nC. Apple\nD. Cabinet", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/12/rgb_1.png", "image_2": "FloorPlan23/12/rgb_0.png", "mask_image": "FloorPlan23/12/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png", "options": ["Cabinet", "Bowl", "Apple", "Cabinet"]} diff --git a/train/FloorPlan23/12/questions_distance.jsonl b/train/FloorPlan23/12/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb10443d652a14ae287e3a2688e032c085776b06 --- /dev/null +++ b/train/FloorPlan23/12/questions_distance.jsonl @@ -0,0 +1,4 @@ +{"id": 4618, "folder_dir": "FloorPlan23/12", "query": "Which of the following objects is closest to Pot in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Potato\nB. Knife\nC. WineBottle\nD. Other\n", "answer": "B", "src_object": "Pot", "target_object": "Knife", "question": "Which of the following objects is closest to Pot in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Potato", "semantic_id": "Potato|-02.08|+00.95|-01.60", "distance": 0.3268222372142207, "com": {"x": -2.084045886993408, "y": 0.9514029026031494, "z": -1.5954636335372925}}, {"text": "Knife", "semantic_id": "Knife|-02.27|+00.92|-02.14", "distance": 0.23764350556220398, "com": {"x": -2.2434728145599365, "y": 0.9244518876075745, "z": -2.112790584564209}}, {"text": "WineBottle", "semantic_id": "WineBottle|-02.44|+00.92|-02.14", "distance": 0.3463223524724991, "com": {"x": -2.4438514709472656, "y": 1.0804027318954468, "z": -2.1424612998962402}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/12/rgb_0.png", "image_2": "FloorPlan23/12/rgb_1.png"} +{"id": 4619, "folder_dir": "FloorPlan23/12", "query": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CoffeeMachine\nB. PepperShaker\nC. Toaster\nD. Other\n", "answer": "C", "src_object": "CounterTop", "target_object": "Toaster", "question": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "CoffeeMachine", "semantic_id": "CoffeeMachine|-00.15|+00.90|-03.14", "distance": 0.33693807644203705, "com": {"x": -0.2524435818195343, "y": 1.1250267028808594, "z": -3.143627166748047}}, {"text": "PepperShaker", "semantic_id": "PepperShaker|-00.44|+00.90|-03.35", "distance": 0.3860291190882056, "com": {"x": -0.4387167692184448, "y": 0.9609774351119995, "z": -3.347060203552246}}, {"text": "Toaster", "semantic_id": "Toaster|-00.18|+00.90|-02.76", "distance": 0.32551581694460907, "com": {"x": -0.19870756566524506, "y": 0.9931158423423767, "z": -2.76408052444458}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/12/rgb_0.png", "image_2": "FloorPlan23/12/rgb_1.png"} +{"id": 4620, "folder_dir": "FloorPlan23/12", "query": "Which of the following objects is closest to CoffeeMachine in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CounterTop\nB. PepperShaker\nC. ButterKnife\nD. Other\n", "answer": "B", "src_object": "CoffeeMachine", "target_object": "PepperShaker", "question": "Which of the following objects is closest to CoffeeMachine in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "CounterTop", "semantic_id": "CounterTop|-00.30|+00.95|-02.79", "distance": 0.33693807644203705, "com": {"x": -0.442539244890213, "y": 0.9125118255615234, "z": -2.964104652404785}}, {"text": "PepperShaker", "semantic_id": "PepperShaker|-00.44|+00.90|-03.35", "distance": 0.32092812756539024, "com": {"x": -0.4387167692184448, "y": 0.9609774351119995, "z": -3.347060203552246}}, {"text": "ButterKnife", "semantic_id": "ButterKnife|-00.31|+00.91|-03.44", "distance": 0.37211358644755543, "com": {"x": -0.3061050772666931, "y": 0.9072365760803223, "z": -3.4405386447906494}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/12/rgb_0.png", "image_2": "FloorPlan23/12/rgb_1.png"} +{"id": 4621, "folder_dir": "FloorPlan23/12", "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. Lettuce\nB. Pot\nC. Apple\nD. Other\n", "answer": "A", "src_object": "DiningTable", "target_object": "Lettuce", "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": "Lettuce", "semantic_id": "Lettuce|-02.62|+01.01|-01.73", "distance": 0.5853301333959219, "com": {"x": -2.620821714401245, "y": 1.0096420049667358, "z": -1.7274253368377686}}, {"text": "Pot", "semantic_id": "Pot|-02.24|+00.92|-01.88", "distance": 0.5858293435623843, "com": {"x": -2.238513231277466, "y": 0.9807913899421692, "z": -1.8819752931594849}}, {"text": "Apple", "semantic_id": "Apple|-02.66|+00.97|-01.55", "distance": 0.58665562724534, "com": {"x": -2.66848087310791, "y": 0.9702385067939758, "z": -1.5395169258117676}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/12/rgb_0.png", "image_2": "FloorPlan23/12/rgb_1.png"} diff --git a/train/FloorPlan23/12/rgb_0.png b/train/FloorPlan23/12/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..4951ce88035a99d9970d27f0c3823cd1bbc16bc8 --- /dev/null +++ b/train/FloorPlan23/12/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80f1577fe10f8971440802608879412a15669fb5617fa344b4e1cc0dfbb0e631 +size 775734 diff --git a/train/FloorPlan23/12/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png b/train/FloorPlan23/12/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png new file mode 100644 index 0000000000000000000000000000000000000000..2cbff24d7d2b71d34d444686586857ced8f9ea3e --- /dev/null +++ b/train/FloorPlan23/12/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2018c9af55016f6b25ebb1c0725212cff0741e016c0b6605c024c159f049fcc +size 685947 diff --git a/train/FloorPlan23/12/rgb_1.png b/train/FloorPlan23/12/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..2d58dc501b99a9f868776ee3ce7bcbdc31c27902 --- /dev/null +++ b/train/FloorPlan23/12/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6f24d157caa99199bbc0e259dc87927c2cb073e05b93675d646febe10ad8a3e +size 826900 diff --git a/train/FloorPlan23/12/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png b/train/FloorPlan23/12/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png new file mode 100644 index 0000000000000000000000000000000000000000..8e5397e6732245c59fa552a48922e85506363d7a --- /dev/null +++ b/train/FloorPlan23/12/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc64c64080a88a14e77bdded35cd2371cf6f13010b64cda4650e07b1f26d09e2 +size 690296 diff --git a/train/FloorPlan23/12/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png b/train/FloorPlan23/12/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png new file mode 100644 index 0000000000000000000000000000000000000000..342d62a1d3fbc4c0455bd850361e646ab0593454 --- /dev/null +++ b/train/FloorPlan23/12/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c36f194972d03b4731b709444ddaa6282c2249f4e2926923ecb4f7c48c5748cf +size 717930 diff --git a/train/FloorPlan23/12/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png b/train/FloorPlan23/12/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png new file mode 100644 index 0000000000000000000000000000000000000000..98d35a63fb39ac465f33afd2e026dab1e2c19579 --- /dev/null +++ b/train/FloorPlan23/12/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:292f2f4096f8f7f10f2d699ccf9d2e24373c70fddff1415614b9cd89d217a30f +size 722782 diff --git a/train/FloorPlan23/12/rgb_1_mask_Knife|-02.27|+00.92|-02.14.png b/train/FloorPlan23/12/rgb_1_mask_Knife|-02.27|+00.92|-02.14.png new file mode 100644 index 0000000000000000000000000000000000000000..0891d02084bbcf7bf78d4a6ef9f9357e4243434d --- /dev/null +++ b/train/FloorPlan23/12/rgb_1_mask_Knife|-02.27|+00.92|-02.14.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84c77ca54b5da3e657207836813644e3826cf620fcca43f5379ba742a097b24b +size 719498 diff --git a/train/FloorPlan23/12/rgb_1_mask_Plate|-02.12|+00.92|-02.42.png b/train/FloorPlan23/12/rgb_1_mask_Plate|-02.12|+00.92|-02.42.png new file mode 100644 index 0000000000000000000000000000000000000000..b126527b8ab6c6aba93c8240a4263ad6f92d30f2 --- /dev/null +++ b/train/FloorPlan23/12/rgb_1_mask_Plate|-02.12|+00.92|-02.42.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09cf0d1b56391f75a2934c6dc63a061058c2065cb94533b93dbb8c5fc3a97068 +size 717544 diff --git a/train/FloorPlan23/12/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png b/train/FloorPlan23/12/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png new file mode 100644 index 0000000000000000000000000000000000000000..c52b6c448ea00cffd239be17b9230996ed846515 --- /dev/null +++ b/train/FloorPlan23/12/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d64d13c553b2258ea5b1995e434d92d4749ee0c5bed3fa8e6cafb9c2c1503ea +size 722686 diff --git a/train/FloorPlan23/12/semantic_0.png b/train/FloorPlan23/12/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..0a18cf4426591bab458e0c6f415e7d9dbf2a7c19 Binary files /dev/null and b/train/FloorPlan23/12/semantic_0.png differ diff --git a/train/FloorPlan23/12/semantic_1.png b/train/FloorPlan23/12/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e3d604e0d91628161d7d0d6c7c49f7b70e6965af Binary files /dev/null and b/train/FloorPlan23/12/semantic_1.png differ diff --git a/train/FloorPlan23/18/0.json b/train/FloorPlan23/18/0.json new file mode 100644 index 0000000000000000000000000000000000000000..88feab16c2a190151a933d3603d029ebaefebdac --- /dev/null +++ b/train/FloorPlan23/18/0.json @@ -0,0 +1,4044 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Shelf|-02.43|+00.15|-01.69", + "object_info": { + "name": "Shelf_56e7d2ea", + "position": { + "x": -2.432276487350464, + "y": 0.15027305483818054, + "z": -1.6942251920700073 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.5205506086349487, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.15|-01.69", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0256943702697754, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -2.5611023902893066 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.25202104449272156, + "z": -1.6942222118377686 + }, + "size": { + "x": 0.8131651878356934, + "y": 0.20350056886672974, + "z": 1.7337603569030762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "object_info": { + "name": "LightSwitch_5e61d7a6", + "position": { + "x": -4.323999881744385, + "y": 1.319000005722046, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.475703239440918, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -4.280065059661865, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.280065059661865, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.2377760410308838, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.2377760410308838, + -0.033031947910785675 + ] + ], + "center": { + "x": -4.323999881744385, + "y": 1.3201357126235962, + "z": -0.01651597023010254 + }, + "size": { + "x": 0.08786964416503906, + "y": 0.1647193431854248, + "z": 0.03303195536136627 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Potato|-02.08|+00.95|-01.60", + "object_info": { + "name": "Potato_097cac87", + "position": { + "x": -2.0824663639068604, + "y": 0.9517925977706909, + "z": -1.595628023147583 + }, + "rotation": { + "x": 0.09599222987890244, + "y": 295.7773132324219, + "z": 0.3481499254703522 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": true, + "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": 0.18000000715255737, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.42998206615448, + "objectType": "Potato", + "objectId": "Potato|-02.08|+00.95|-01.60", + "assetId": "Potato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0365054607391357, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.6359621286392212 + ] + ], + "center": { + "x": -2.084045886993408, + "y": 0.9514029026031494, + "z": -1.5954636335372925 + }, + "size": { + "x": 0.09508085250854492, + "y": 0.0678938627243042, + "z": 0.08099699020385742 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.11331844329834, + 0.9176058173179626, + -1.5434285402297974 + ], + [ + -2.1428205966949463, + 0.9171935319900513, + -1.6045199632644653 + ], + [ + -2.0544910430908203, + 0.9173579216003418, + -1.64717698097229 + ], + [ + -2.024988889694214, + 0.9177701473236084, + -1.586085557937622 + ], + [ + -2.113600015640259, + 0.9854477643966675, + -1.5437504053115845 + ], + [ + -2.1431021690368652, + 0.9850355386734009, + -1.6048418283462524 + ], + [ + -2.0547726154327393, + 0.9851998686790466, + -1.6474988460540771 + ], + [ + -2.025270462036133, + 0.985612154006958, + -1.5864073038101196 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -0.7999999523162842, + "y": 0.9009994864463806, + "z": -1.600000023841858 + }, + "agent_rotation": { + "x": -0.0, + "y": 252.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -0.7999999523162842, + "y": 1.5759994983673096, + "z": -1.600000023841858 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Apple|-02.66|+00.97|-01.55", + "Bowl|-02.75|+00.92|-01.17", + "Shelf|-02.43|+00.15|-01.69", + "Bottle|-02.70|+00.92|-00.88", + "Pencil|-02.22|+00.92|-00.86", + "StoveBurner|-01.52|+00.93|-03.75", + "Pot|-02.24|+00.92|-01.88", + "Cup|-02.44|+00.92|-02.36", + "Pan|-02.17|+00.92|-01.10", + "Chair|-03.26|+00.00|-02.09", + "Tomato|-02.67|+00.98|-02.01", + "Pen|-02.33|+00.92|-00.89", + "Knife|-02.27|+00.92|-02.14", + "Window|-02.50|+01.78|-04.19", + "Cabinet|-01.76|+02.14|-03.69", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.52|+00.93|-03.50", + "GarbageCan|-01.94|00.00|-03.76", + "Lettuce|-02.62|+01.01|-01.73", + "WineBottle|-02.44|+00.92|-02.14", + "Plate|-02.12|+00.92|-02.42", + "Mug|-02.59|+00.92|-02.31", + "DiningTable|-02.43|+00.00|-01.69", + "Potato|-02.08|+00.95|-01.60", + "Blinds|-02.54|+02.70|-03.96" + ], + "different_object": [ + "LightSwitch|-04.32|+01.32|+00.00", + "Chair|-03.24|+00.00|-01.25", + "Shelf|-02.43|+00.52|-01.69" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/18/0_depth_npy.npy b/train/FloorPlan23/18/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e2e399069abd5543f804f7f5fefee5033663155a --- /dev/null +++ b/train/FloorPlan23/18/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0cb63cc501fdf54c19ddd362d63912aedfb934fad50ae8ffb75b4de165e871a +size 3145856 diff --git a/train/FloorPlan23/18/0_semantic_sensor_npy.npy b/train/FloorPlan23/18/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b882fecf01b83678f14946cb110804a10f012c85 --- /dev/null +++ b/train/FloorPlan23/18/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0da07740a09cca02abe9bdaa0c72ab8d1b56912d370b0aaa66081162e04dd9c +size 2359424 diff --git a/train/FloorPlan23/18/1.json b/train/FloorPlan23/18/1.json new file mode 100644 index 0000000000000000000000000000000000000000..0138070e3ba5faff2b975a951bc2d3a1c43598ac --- /dev/null +++ b/train/FloorPlan23/18/1.json @@ -0,0 +1,7063 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "object_info": { + "name": "Cabinet_b8c26787", + "position": { + "x": -0.8778074383735657, + "y": 0.3888453543186188, + "z": -3.422300100326538 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.647717237472534, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6206655502319336, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.739914894104004 + ] + ], + "center": { + "x": -0.749236524105072, + "y": 0.3888453245162964, + "z": -3.5777101516723633 + }, + "size": { + "x": 0.25714194774627686, + "y": 0.6573984622955322, + "z": 0.32440948486328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Shelf|-02.43|+00.15|-01.69", + "object_info": { + "name": "Shelf_56e7d2ea", + "position": { + "x": -2.432276487350464, + "y": 0.15027305483818054, + "z": -1.6942251920700073 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.5205506086349487, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.15|-01.69", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0256943702697754, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -2.5611023902893066 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.25202104449272156, + "z": -1.6942222118377686 + }, + "size": { + "x": 0.8131651878356934, + "y": 0.20350056886672974, + "z": 1.7337603569030762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Potato|-02.08|+00.95|-01.60", + "object_info": { + "name": "Potato_097cac87", + "position": { + "x": -2.0824663639068604, + "y": 0.9517925977706909, + "z": -1.595628023147583 + }, + "rotation": { + "x": 0.09599222987890244, + "y": 295.7773132324219, + "z": 0.3481499254703522 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": true, + "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": 0.18000000715255737, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.42998206615448, + "objectType": "Potato", + "objectId": "Potato|-02.08|+00.95|-01.60", + "assetId": "Potato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0365054607391357, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.6359621286392212 + ] + ], + "center": { + "x": -2.084045886993408, + "y": 0.9514029026031494, + "z": -1.5954636335372925 + }, + "size": { + "x": 0.09508085250854492, + "y": 0.0678938627243042, + "z": 0.08099699020385742 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.11331844329834, + 0.9176058173179626, + -1.5434285402297974 + ], + [ + -2.1428205966949463, + 0.9171935319900513, + -1.6045199632644653 + ], + [ + -2.0544910430908203, + 0.9173579216003418, + -1.64717698097229 + ], + [ + -2.024988889694214, + 0.9177701473236084, + -1.586085557937622 + ], + [ + -2.113600015640259, + 0.9854477643966675, + -1.5437504053115845 + ], + [ + -2.1431021690368652, + 0.9850355386734009, + -1.6048418283462524 + ], + [ + -2.0547726154327393, + 0.9851998686790466, + -1.6474988460540771 + ], + [ + -2.025270462036133, + 0.985612154006958, + -1.5864073038101196 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -3.0999999046325684, + "y": 0.9009994864463806, + "z": -0.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 153.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -3.0999999046325684, + "y": 1.5759994983673096, + "z": -0.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Apple|-02.66|+00.97|-01.55", + "Bowl|-02.75|+00.92|-01.17", + "Shelf|-02.43|+00.15|-01.69", + "Bottle|-02.70|+00.92|-00.88", + "Pencil|-02.22|+00.92|-00.86", + "StoveBurner|-01.52|+00.93|-03.75", + "Pot|-02.24|+00.92|-01.88", + "Cup|-02.44|+00.92|-02.36", + "Pan|-02.17|+00.92|-01.10", + "Chair|-03.26|+00.00|-02.09", + "Tomato|-02.67|+00.98|-02.01", + "Pen|-02.33|+00.92|-00.89", + "Knife|-02.27|+00.92|-02.14", + "Window|-02.50|+01.78|-04.19", + "Cabinet|-01.76|+02.14|-03.69", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.52|+00.93|-03.50", + "GarbageCan|-01.94|00.00|-03.76", + "Lettuce|-02.62|+01.01|-01.73", + "WineBottle|-02.44|+00.92|-02.14", + "Plate|-02.12|+00.92|-02.42", + "Mug|-02.59|+00.92|-02.31", + "DiningTable|-02.43|+00.00|-01.69", + "Potato|-02.08|+00.95|-01.60", + "Blinds|-02.54|+02.70|-03.96" + ], + "different_object": [ + "Fridge|-00.33|+00.00|-00.77", + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Sink|-00.35|+00.91|-02.01", + "Drawer|-00.75|+00.78|-03.55", + "ButterKnife|-00.31|+00.91|-03.44", + "CounterTop|-00.30|+00.95|-02.79", + "SaltShaker|-00.83|+00.90|-03.77", + "Sink|-00.35|+00.91|-02.01|SinkBasin", + "Faucet|-00.08|+00.90|-02.03", + "Cabinet|-00.58|+00.39|-02.20", + "Cabinet|-00.31|+02.14|-01.54", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Drawer|-00.45|+00.78|-03.27", + "StoveBurner|-01.13|+00.93|-03.75", + "DishSponge|-00.07|+00.91|-01.69", + "PepperShaker|-00.44|+00.90|-03.35", + "Cabinet|-00.58|+00.39|-01.80", + "Toaster|-00.18|+00.90|-02.76", + "Cabinet|-00.31|+02.14|-02.48", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.58|+00.39|-03.40", + "Cabinet|-00.88|+02.14|-03.69", + "Spatula|-00.30|+00.91|-02.54", + "Cabinet|-00.88|+00.39|-03.42" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/18/1_depth_npy.npy b/train/FloorPlan23/18/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f90fb9d4304e6b20e39cab208b5e298c101fbcfa --- /dev/null +++ b/train/FloorPlan23/18/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:324e862fed80d3883008dc217cab67fe87536083bb16be5b356d89c6696355b2 +size 3145856 diff --git a/train/FloorPlan23/18/1_semantic_sensor_npy.npy b/train/FloorPlan23/18/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..250be955c3b1d91826ae04b8f19297e031f04104 --- /dev/null +++ b/train/FloorPlan23/18/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b6d07d155b6bd00bdd6629b93297fe352dbc2b2037e2e53868cc2765bd01db1 +size 2359424 diff --git a/train/FloorPlan23/18/depth_0.png b/train/FloorPlan23/18/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..498f962603769315fbd0855eba20406194f853fc Binary files /dev/null and b/train/FloorPlan23/18/depth_0.png differ diff --git a/train/FloorPlan23/18/depth_1.png b/train/FloorPlan23/18/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..cfe552fb141f533f75fcfa8e073e2cb787c0b9e5 Binary files /dev/null and b/train/FloorPlan23/18/depth_1.png differ diff --git a/train/FloorPlan23/18/mask_questions.jsonl b/train/FloorPlan23/18/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40f2aac553d26c1e82397ff4f37cdf8ec33803df --- /dev/null +++ b/train/FloorPlan23/18/mask_questions.jsonl @@ -0,0 +1,14 @@ +{"id": 15491, "folder_dir": "FloorPlan23/18", "pair_name": "0-1:Bowl|-02.75|+00.92|-01.17", "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. Apple\nB. Shelf\nC. Bowl\nD. LightSwitch", "answer": "C", "object_name": "Bowl", "image_1": "FloorPlan23/18/rgb_0.png", "image_2": "FloorPlan23/18/rgb_1.png", "mask_image": "FloorPlan23/18/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png", "options": ["Apple", "Shelf", "Bowl", "LightSwitch"]} +{"id": 15492, "folder_dir": "FloorPlan23/18", "pair_name": "0-1:Shelf|-02.43|+00.15|-01.69", "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. Apple\nB. Chair\nC. Shelf\nD. LightSwitch", "answer": "C", "object_name": "Shelf", "image_1": "FloorPlan23/18/rgb_0.png", "image_2": "FloorPlan23/18/rgb_1.png", "mask_image": "FloorPlan23/18/rgb_1_mask_Shelf|-02.43|+00.15|-01.69.png", "options": ["Apple", "Chair", "Shelf", "LightSwitch"]} +{"id": 15493, "folder_dir": "FloorPlan23/18", "pair_name": "0-1:Bottle|-02.70|+00.92|-00.88", "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. Bottle\nB. Apple\nC. LightSwitch\nD. Shelf", "answer": "A", "object_name": "Bottle", "image_1": "FloorPlan23/18/rgb_0.png", "image_2": "FloorPlan23/18/rgb_1.png", "mask_image": "FloorPlan23/18/rgb_1_mask_Bottle|-02.70|+00.92|-00.88.png", "options": ["Bottle", "Apple", "LightSwitch", "Shelf"]} +{"id": 15494, "folder_dir": "FloorPlan23/18", "pair_name": "0-1:Pot|-02.24|+00.92|-01.88", "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. Apple\nB. Shelf\nC. Pot\nD. Chair", "answer": "C", "object_name": "Pot", "image_1": "FloorPlan23/18/rgb_0.png", "image_2": "FloorPlan23/18/rgb_1.png", "mask_image": "FloorPlan23/18/rgb_1_mask_Pot|-02.24|+00.92|-01.88.png", "options": ["Apple", "Shelf", "Pot", "Chair"]} +{"id": 15495, "folder_dir": "FloorPlan23/18", "pair_name": "0-1:Chair|-03.26|+00.00|-02.09", "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. LightSwitch\nB. Chair\nC. Shelf\nD. Apple", "answer": "B", "object_name": "Chair", "image_1": "FloorPlan23/18/rgb_0.png", "image_2": "FloorPlan23/18/rgb_1.png", "mask_image": "FloorPlan23/18/rgb_1_mask_Chair|-03.26|+00.00|-02.09.png", "options": ["LightSwitch", "Chair", "Shelf", "Apple"]} +{"id": 15496, "folder_dir": "FloorPlan23/18", "pair_name": "0-1:Cabinet|-01.76|+02.14|-03.69", "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. LightSwitch\nB. Apple\nC. Cabinet\nD. Chair", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/18/rgb_0.png", "image_2": "FloorPlan23/18/rgb_1.png", "mask_image": "FloorPlan23/18/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png", "options": ["LightSwitch", "Apple", "Cabinet", "Chair"]} +{"id": 15497, "folder_dir": "FloorPlan23/18", "pair_name": "0-1:Microwave|-01.32|+01.52|-03.80", "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. Microwave\nB. Chair\nC. Apple\nD. LightSwitch", "answer": "A", "object_name": "Microwave", "image_1": "FloorPlan23/18/rgb_0.png", "image_2": "FloorPlan23/18/rgb_1.png", "mask_image": "FloorPlan23/18/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png", "options": ["Microwave", "Chair", "Apple", "LightSwitch"]} +{"id": 15498, "folder_dir": "FloorPlan23/18", "pair_name": "0-1:Lettuce|-02.62|+01.01|-01.73", "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. Lettuce\nB. Shelf\nC. Apple\nD. Chair", "answer": "A", "object_name": "Lettuce", "image_1": "FloorPlan23/18/rgb_0.png", "image_2": "FloorPlan23/18/rgb_1.png", "mask_image": "FloorPlan23/18/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png", "options": ["Lettuce", "Shelf", "Apple", "Chair"]} +{"id": 15499, "folder_dir": "FloorPlan23/18", "pair_name": "0-1:Blinds|-02.54|+02.70|-03.96", "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. Shelf\nB. LightSwitch\nC. Apple\nD. Blinds", "answer": "D", "object_name": "Blinds", "image_1": "FloorPlan23/18/rgb_0.png", "image_2": "FloorPlan23/18/rgb_1.png", "mask_image": "FloorPlan23/18/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png", "options": ["Shelf", "LightSwitch", "Apple", "Blinds"]} +{"id": 15500, "folder_dir": "FloorPlan23/18", "pair_name": "1-0:Shelf|-02.43|+00.15|-01.69", "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. Shelf\nB. Cabinet\nC. Apple\nD. Sink", "answer": "A", "object_name": "Shelf", "image_1": "FloorPlan23/18/rgb_1.png", "image_2": "FloorPlan23/18/rgb_0.png", "mask_image": "FloorPlan23/18/rgb_0_mask_Shelf|-02.43|+00.15|-01.69.png", "options": ["Shelf", "Cabinet", "Apple", "Sink"]} +{"id": 15501, "folder_dir": "FloorPlan23/18", "pair_name": "1-0:Bottle|-02.70|+00.92|-00.88", "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. DishSponge\nB. Apple\nC. Bottle\nD. StoveBurner", "answer": "C", "object_name": "Bottle", "image_1": "FloorPlan23/18/rgb_1.png", "image_2": "FloorPlan23/18/rgb_0.png", "mask_image": "FloorPlan23/18/rgb_0_mask_Bottle|-02.70|+00.92|-00.88.png", "options": ["DishSponge", "Apple", "Bottle", "StoveBurner"]} +{"id": 15502, "folder_dir": "FloorPlan23/18", "pair_name": "1-0:Pot|-02.24|+00.92|-01.88", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pot\nB. Apple\nC. ButterKnife\nD. Cabinet", "answer": "A", "object_name": "Pot", "image_1": "FloorPlan23/18/rgb_1.png", "image_2": "FloorPlan23/18/rgb_0.png", "mask_image": "FloorPlan23/18/rgb_0_mask_Pot|-02.24|+00.92|-01.88.png", "options": ["Pot", "Apple", "ButterKnife", "Cabinet"]} +{"id": 15503, "folder_dir": "FloorPlan23/18", "pair_name": "1-0:Microwave|-01.32|+01.52|-03.80", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. SaltShaker\nB. SinkBasin\nC. Apple\nD. Microwave", "answer": "D", "object_name": "Microwave", "image_1": "FloorPlan23/18/rgb_1.png", "image_2": "FloorPlan23/18/rgb_0.png", "mask_image": "FloorPlan23/18/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png", "options": ["SaltShaker", "SinkBasin", "Apple", "Microwave"]} +{"id": 15504, "folder_dir": "FloorPlan23/18", "pair_name": "1-0:Blinds|-02.54|+02.70|-03.96", "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. CoffeeMachine\nC. Blinds\nD. Apple", "answer": "C", "object_name": "Blinds", "image_1": "FloorPlan23/18/rgb_1.png", "image_2": "FloorPlan23/18/rgb_0.png", "mask_image": "FloorPlan23/18/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png", "options": ["Fridge", "CoffeeMachine", "Blinds", "Apple"]} diff --git a/train/FloorPlan23/18/questions_distance.jsonl b/train/FloorPlan23/18/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d3c9daa5649be329b66357128f2128c81dce1fb --- /dev/null +++ b/train/FloorPlan23/18/questions_distance.jsonl @@ -0,0 +1,3 @@ +{"id": 4606, "folder_dir": "FloorPlan23/18", "query": "Which of the following objects is closest to Pan 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. Pen\nC. Potato\nD. Other\n", "answer": "B", "src_object": "Pan", "target_object": "Pen", "question": "Which of the following objects is closest to Pan 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|-02.22|+00.92|-00.86", "distance": 0.33442331384077895, "com": {"x": -2.224175214767456, "y": 0.922187864780426, "z": -0.8538317084312439}}, {"text": "Pen", "semantic_id": "Pen|-02.33|+00.92|-00.89", "distance": 0.3343227332612733, "com": {"x": -2.3353943824768066, "y": 0.9231058955192566, "z": -0.8915949463844299}}, {"text": "Potato", "semantic_id": "Potato|-02.08|+00.95|-01.60", "distance": 0.4242067284680793, "com": {"x": -2.084045886993408, "y": 0.9514029026031494, "z": -1.5954636335372925}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/18/rgb_0.png", "image_2": "FloorPlan23/18/rgb_1.png"} +{"id": 4607, "folder_dir": "FloorPlan23/18", "query": "Which of the following objects is closest to Window in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. Microwave\nC. Blinds\nD. Other\n", "answer": "C", "src_object": "Window", "target_object": "Blinds", "question": "Which of the following objects is closest to Window in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "GarbageCan", "semantic_id": "GarbageCan|-01.94|00.00|-03.76", "distance": 1.611971431126743, "com": {"x": -1.9438002109527588, "y": 0.32797741889953613, "z": -3.7633652687072754}}, {"text": "Microwave", "semantic_id": "Microwave|-01.32|+01.52|-03.80", "distance": 1.2565980034739546, "com": {"x": -1.3173975944519043, "y": 1.716176986694336, "z": -3.7988924980163574}}, {"text": "Blinds", "semantic_id": "Blinds|-02.54|+02.70|-03.96", "distance": 0.7805063449843993, "com": {"x": -2.5367586612701416, "y": 2.5410349369049072, "z": -3.9586215019226074}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/18/rgb_0.png", "image_2": "FloorPlan23/18/rgb_1.png"} +{"id": 4608, "folder_dir": "FloorPlan23/18", "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. Apple\nB. Pot\nC. Lettuce\nD. Other\n", "answer": "C", "src_object": "DiningTable", "target_object": "Lettuce", "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": "Apple", "semantic_id": "Apple|-02.66|+00.97|-01.55", "distance": 0.58665562724534, "com": {"x": -2.66848087310791, "y": 0.9702385067939758, "z": -1.5395169258117676}}, {"text": "Pot", "semantic_id": "Pot|-02.24|+00.92|-01.88", "distance": 0.5858293435623843, "com": {"x": -2.238513231277466, "y": 0.9807913899421692, "z": -1.8819752931594849}}, {"text": "Lettuce", "semantic_id": "Lettuce|-02.62|+01.01|-01.73", "distance": 0.5853301333959219, "com": {"x": -2.620821714401245, "y": 1.0096420049667358, "z": -1.7274253368377686}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/18/rgb_0.png", "image_2": "FloorPlan23/18/rgb_1.png"} diff --git a/train/FloorPlan23/18/rgb_0.png b/train/FloorPlan23/18/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..9695b14a21a8e0d1d42d039e058b9256ae8e6cf5 --- /dev/null +++ b/train/FloorPlan23/18/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e433c99084f2e7ed3663de317c71d5cf73d9bfa8fef023befd4917008c0af7b9 +size 735586 diff --git a/train/FloorPlan23/18/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png b/train/FloorPlan23/18/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png new file mode 100644 index 0000000000000000000000000000000000000000..9c2926ae2868c155ffe3821e0190c0f706c65dc6 --- /dev/null +++ b/train/FloorPlan23/18/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49671983a3aa1885f8dc0562a2d14bcfdd2d3614e0f02dc25730826ba11262ba +size 625023 diff --git a/train/FloorPlan23/18/rgb_0_mask_Bottle|-02.70|+00.92|-00.88.png b/train/FloorPlan23/18/rgb_0_mask_Bottle|-02.70|+00.92|-00.88.png new file mode 100644 index 0000000000000000000000000000000000000000..946d91eba3fd397fd9056664e0ee29782fe16bb4 --- /dev/null +++ b/train/FloorPlan23/18/rgb_0_mask_Bottle|-02.70|+00.92|-00.88.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d233ad213fb785e18fa498dacc5548195e222010033f7d5eb167bab4dc0671b0 +size 649068 diff --git a/train/FloorPlan23/18/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png b/train/FloorPlan23/18/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png new file mode 100644 index 0000000000000000000000000000000000000000..b45c5fcc74ff30bc534037b58b663cb4d24bacb3 --- /dev/null +++ b/train/FloorPlan23/18/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e50c7b708106bad04f0a6a3973c41dfddfffaa5132d9d047264ef3f7f3fd2f33 +size 644144 diff --git a/train/FloorPlan23/18/rgb_0_mask_Pot|-02.24|+00.92|-01.88.png b/train/FloorPlan23/18/rgb_0_mask_Pot|-02.24|+00.92|-01.88.png new file mode 100644 index 0000000000000000000000000000000000000000..8b8510a181bdb2462b602d6c14cbe0c5a86b3c5a --- /dev/null +++ b/train/FloorPlan23/18/rgb_0_mask_Pot|-02.24|+00.92|-01.88.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88f05e927f8e91a88c496a61bc98ce779f9b213eaec5be513a23c1b5b8bda6e3 +size 645935 diff --git a/train/FloorPlan23/18/rgb_0_mask_Shelf|-02.43|+00.15|-01.69.png b/train/FloorPlan23/18/rgb_0_mask_Shelf|-02.43|+00.15|-01.69.png new file mode 100644 index 0000000000000000000000000000000000000000..204599d040e70c01fd1d8da909bed4c24fafa57f --- /dev/null +++ b/train/FloorPlan23/18/rgb_0_mask_Shelf|-02.43|+00.15|-01.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f020f23153dc708f8fcd94568e48c71208c7d5c25ca28edb5a12d277eb4a968b +size 637715 diff --git a/train/FloorPlan23/18/rgb_1.png b/train/FloorPlan23/18/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..930a00137ee66629374a45ac6b779a5c36414e9c --- /dev/null +++ b/train/FloorPlan23/18/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a42412a64b566e43ef9d9a2956a68cb5d1bc22c1f9d86d91f2d414e1018d381 +size 820760 diff --git a/train/FloorPlan23/18/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png b/train/FloorPlan23/18/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png new file mode 100644 index 0000000000000000000000000000000000000000..c2a4d441f425bb47c799535cd08b46aea9e33ef7 --- /dev/null +++ b/train/FloorPlan23/18/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d827ca6bf560ea95ef22de3846df52fcea61f9e692702cfc5c7e323a939bec39 +size 712780 diff --git a/train/FloorPlan23/18/rgb_1_mask_Bottle|-02.70|+00.92|-00.88.png b/train/FloorPlan23/18/rgb_1_mask_Bottle|-02.70|+00.92|-00.88.png new file mode 100644 index 0000000000000000000000000000000000000000..bb0bbd230dcf4ea5cfd560ff28fb6140773946ea --- /dev/null +++ b/train/FloorPlan23/18/rgb_1_mask_Bottle|-02.70|+00.92|-00.88.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da07c300c8aee33976f9846fb1e587cdf7102eb36ec16f80c3dc30cbf71bf96b +size 716215 diff --git a/train/FloorPlan23/18/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png b/train/FloorPlan23/18/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png new file mode 100644 index 0000000000000000000000000000000000000000..00dea3364363669e794f755735b2b65d172056d0 --- /dev/null +++ b/train/FloorPlan23/18/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbad8373a768ce538819450e1c0dd6cc25bd78c5ef9030fd4f2577421e25cf5e +size 710498 diff --git a/train/FloorPlan23/18/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png b/train/FloorPlan23/18/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png new file mode 100644 index 0000000000000000000000000000000000000000..9a4cd9e7c949ea05305378cd93dc4656a607cff8 --- /dev/null +++ b/train/FloorPlan23/18/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84171b3aa037c2017e3d52c0488aef48ec1f37ba578485aedee774696348a9b7 +size 723493 diff --git a/train/FloorPlan23/18/rgb_1_mask_Chair|-03.26|+00.00|-02.09.png b/train/FloorPlan23/18/rgb_1_mask_Chair|-03.26|+00.00|-02.09.png new file mode 100644 index 0000000000000000000000000000000000000000..577bed31ac80d9d72b7bacdc615fe74679aed282 --- /dev/null +++ b/train/FloorPlan23/18/rgb_1_mask_Chair|-03.26|+00.00|-02.09.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:856e1dc2cde6ef93e28f1b08c2f374161597ab0082b4211becfc45ce31c93b7d +size 667247 diff --git a/train/FloorPlan23/18/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png b/train/FloorPlan23/18/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png new file mode 100644 index 0000000000000000000000000000000000000000..af551305424b43944d566d443bc8cf8413090dc0 --- /dev/null +++ b/train/FloorPlan23/18/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb3cf24c9de59832d925bafbae05c1b8f4971dde05416d9cb2674a75d8c63886 +size 720216 diff --git a/train/FloorPlan23/18/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png b/train/FloorPlan23/18/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png new file mode 100644 index 0000000000000000000000000000000000000000..0ded7727199a393c0a94e477b0a98c28c06737fc --- /dev/null +++ b/train/FloorPlan23/18/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3116679bb04e02a1e3109bae6bb5d603abaee5c7e49242d9c0f996aaf3bd760 +size 722478 diff --git a/train/FloorPlan23/18/rgb_1_mask_Pot|-02.24|+00.92|-01.88.png b/train/FloorPlan23/18/rgb_1_mask_Pot|-02.24|+00.92|-01.88.png new file mode 100644 index 0000000000000000000000000000000000000000..2ce2ccbfd8f6937fb9b36c1b74b594c56a09e6be --- /dev/null +++ b/train/FloorPlan23/18/rgb_1_mask_Pot|-02.24|+00.92|-01.88.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2eaacc2c4e47af9f97784394c4681b32e007d144ac45302a88a685062edaa42c +size 719510 diff --git a/train/FloorPlan23/18/rgb_1_mask_Shelf|-02.43|+00.15|-01.69.png b/train/FloorPlan23/18/rgb_1_mask_Shelf|-02.43|+00.15|-01.69.png new file mode 100644 index 0000000000000000000000000000000000000000..7c1e64cc69d1435d7098d2d3d069756006490b40 --- /dev/null +++ b/train/FloorPlan23/18/rgb_1_mask_Shelf|-02.43|+00.15|-01.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2bdc5b5b06624f06eec9d7291d40ccfb82ea116683356db5257c1353340123d +size 718461 diff --git a/train/FloorPlan23/18/semantic_0.png b/train/FloorPlan23/18/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..30ed61044410748a0781c6b14743eb1dee686bab Binary files /dev/null and b/train/FloorPlan23/18/semantic_0.png differ diff --git a/train/FloorPlan23/18/semantic_1.png b/train/FloorPlan23/18/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bb237c9cbc5305119b229ad5683afd44ba2bed34 Binary files /dev/null and b/train/FloorPlan23/18/semantic_1.png differ diff --git a/train/FloorPlan23/19/0.json b/train/FloorPlan23/19/0.json new file mode 100644 index 0000000000000000000000000000000000000000..5bf5d393b136a7450fccf75b9614f78d99580746 --- /dev/null +++ b/train/FloorPlan23/19/0.json @@ -0,0 +1,2088 @@ +{ + "object": [ + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -4.199999809265137, + "y": 0.9009994864463806, + "z": -1.8000000715255737 + }, + "agent_rotation": { + "x": -0.0, + "y": 169.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -4.199999809265137, + "y": 1.5759994983673096, + "z": -1.8000000715255737 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "StoveBurner|-01.52|+00.93|-03.75", + "Cabinet|-01.76|+02.14|-03.69", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "CounterTop|-00.30|+00.95|-02.79", + "SaltShaker|-00.83|+00.90|-03.77", + "StoveBurner|-01.52|+00.93|-03.50", + "StoveBurner|-01.13|+00.93|-03.75", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.88|+02.14|-03.69" + ], + "different_object": [ + "Window|-02.50|+01.78|-04.19", + "DiningTable|-02.43|+00.00|-01.69", + "GarbageCan|-01.94|00.00|-03.76", + "Chair|-03.26|+00.00|-02.09", + "Blinds|-02.54|+02.70|-03.96" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/19/0_depth_npy.npy b/train/FloorPlan23/19/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f75aa8ae905de829b2eb771ce52a1f37078c0d96 --- /dev/null +++ b/train/FloorPlan23/19/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:994a97ac8099de09f59928c6becf78c06489f3bff05a032905d7d21a63f6013d +size 3145856 diff --git a/train/FloorPlan23/19/0_semantic_sensor_npy.npy b/train/FloorPlan23/19/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3b3569269fdc77439a275f681604c178d8a72d62 --- /dev/null +++ b/train/FloorPlan23/19/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:683a6efaad9f583137a5c8091390e1d69f63bf43535e6979869d9d9ee43b3f33 +size 2359424 diff --git a/train/FloorPlan23/19/1.json b/train/FloorPlan23/19/1.json new file mode 100644 index 0000000000000000000000000000000000000000..dd468379dc8c87bd4bbe6a06a642a3dd65cbdb81 --- /dev/null +++ b/train/FloorPlan23/19/1.json @@ -0,0 +1,4219 @@ +{ + "object": [ + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "object_info": { + "name": "Cabinet_b8c26787", + "position": { + "x": -0.8778074383735657, + "y": 0.3888453543186188, + "z": -3.422300100326538 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.647717237472534, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6206655502319336, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.739914894104004 + ] + ], + "center": { + "x": -0.749236524105072, + "y": 0.3888453245162964, + "z": -3.5777101516723633 + }, + "size": { + "x": 0.25714194774627686, + "y": 0.6573984622955322, + "z": 0.32440948486328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Spoon|-00.33|+00.79|-02.12", + "object_info": { + "name": "Spoon_ef4541de", + "position": { + "x": -0.32795315980911255, + "y": 0.7871569991111755, + "z": -2.1250267028808594 + }, + "rotation": { + "x": 0.3525198698043823, + "y": 33.92948532104492, + "z": 0.8351927399635315 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.129457950592041, + "objectType": "Spoon", + "objectId": "Spoon|-00.33|+00.79|-02.12", + "assetId": "Spoon_1", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26713094115257263, + 0.8056613206863403, + -2.0415267944335938 + ], + [ + -0.26713094115257263, + 0.8056613206863403, + -2.2291860580444336 + ], + [ + -0.26713094115257263, + 0.7863336801528931, + -2.0415267944335938 + ], + [ + -0.26713094115257263, + 0.7863336801528931, + -2.2291860580444336 + ], + [ + -0.40064141154289246, + 0.8056613206863403, + -2.0415267944335938 + ], + [ + -0.40064141154289246, + 0.8056613206863403, + -2.2291860580444336 + ], + [ + -0.40064141154289246, + 0.7863336801528931, + -2.0415267944335938 + ], + [ + -0.40064141154289246, + 0.7863336801528931, + -2.2291860580444336 + ] + ], + "center": { + "x": -0.33388617634773254, + "y": 0.7959975004196167, + "z": -2.1353564262390137 + }, + "size": { + "x": 0.13351047039031982, + "y": 0.019327640533447266, + "z": 0.18765926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.2613292932510376, + 0.7864380478858948, + -2.061155319213867 + ], + [ + -0.2956712245941162, + 0.7858347296714783, + -2.038057327270508 + ], + [ + -0.41144806146621704, + 0.7871109247207642, + -2.21016001701355 + ], + [ + -0.3771061301231384, + 0.7877142429351807, + -2.233258008956909 + ], + [ + -0.26149433851242065, + 0.8054919838905334, + -2.0609030723571777 + ], + [ + -0.29583626985549927, + 0.8048886656761169, + -2.0378048419952393 + ], + [ + -0.4116131067276001, + 0.8061648607254028, + -2.2099077701568604 + ], + [ + -0.3772711455821991, + 0.8067681789398193, + -2.2330057621002197 + ] + ] + } + } + }, + { + "objectId": "Fork|-00.30|+00.79|-01.86", + "object_info": { + "name": "Fork_2ddc3e45", + "position": { + "x": -0.29574909806251526, + "y": 0.7884383797645569, + "z": -1.8586688041687012 + }, + "rotation": { + "x": 0.28218215703964233, + "y": -0.001193281845189631, + "z": 359.9201965332031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.0284688472747803, + "objectType": "Fork", + "objectId": "Fork|-00.30|+00.79|-01.86", + "assetId": "Fork_1", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2790178656578064, + 0.8070268630981445, + -1.7569708824157715 + ], + [ + -0.2790178656578064, + 0.8070268630981445, + -2.004701614379883 + ], + [ + -0.2790178656578064, + 0.7866312265396118, + -1.7569708824157715 + ], + [ + -0.2790178656578064, + 0.7866312265396118, + -2.004701614379883 + ], + [ + -0.3124590516090393, + 0.8070268630981445, + -1.7569708824157715 + ], + [ + -0.3124590516090393, + 0.8070268630981445, + -2.004701614379883 + ], + [ + -0.3124590516090393, + 0.7866312265396118, + -1.7569708824157715 + ], + [ + -0.3124590516090393, + 0.7866312265396118, + -2.004701614379883 + ] + ], + "center": { + "x": -0.29573845863342285, + "y": 0.7968290448188782, + "z": -1.8808362483978271 + }, + "size": { + "x": 0.03344118595123291, + "y": 0.020395636558532715, + "z": 0.24773073196411133 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.2790479063987732, + 0.785405158996582, + -1.7570518255233765 + ], + [ + -0.3124615550041199, + 0.7854517102241516, + -1.7570523023605347 + ], + [ + -0.3124563694000244, + 0.78667151927948, + -2.004727363586426 + ], + [ + -0.27904272079467773, + 0.7866249680519104, + -2.0047268867492676 + ], + [ + -0.2790178656578064, + 0.806972861289978, + -1.7569456100463867 + ], + [ + -0.3124315142631531, + 0.8070194125175476, + -1.756946086883545 + ], + [ + -0.31242635846138, + 0.808239221572876, + -2.0046212673187256 + ], + [ + -0.2790127098560333, + 0.8081926703453064, + -2.0046207904815674 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.5, + "y": 0.9009994864463806, + "z": -1.7000000476837158 + }, + "agent_rotation": { + "x": -0.0, + "y": 125.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.5, + "y": 1.5759994983673096, + "z": -1.7000000476837158 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "StoveBurner|-01.52|+00.93|-03.75", + "Cabinet|-01.76|+02.14|-03.69", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "CounterTop|-00.30|+00.95|-02.79", + "SaltShaker|-00.83|+00.90|-03.77", + "StoveBurner|-01.52|+00.93|-03.50", + "StoveBurner|-01.13|+00.93|-03.75", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.88|+02.14|-03.69" + ], + "different_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Fork|-00.30|+00.79|-01.86", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Sink|-00.35|+00.91|-02.01", + "Drawer|-00.75|+00.78|-03.55", + "ButterKnife|-00.31|+00.91|-03.44", + "Sink|-00.35|+00.91|-02.01|SinkBasin", + "Faucet|-00.08|+00.90|-02.03", + "Cabinet|-00.58|+00.39|-02.20", + "Cabinet|-00.31|+02.14|-01.54", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Drawer|-00.45|+00.78|-03.27", + "DishSponge|-00.07|+00.91|-01.69", + "PepperShaker|-00.44|+00.90|-03.35", + "Cabinet|-00.58|+00.39|-01.80", + "Toaster|-00.18|+00.90|-02.76", + "Cabinet|-00.31|+02.14|-02.48", + "Spoon|-00.33|+00.79|-02.12", + "Cabinet|-00.58|+00.39|-03.40", + "Spatula|-00.30|+00.91|-02.54", + "Cabinet|-00.88|+00.39|-03.42" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/19/1_depth_npy.npy b/train/FloorPlan23/19/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d742e318a147f5bd41a94a4bb7f5c7784b642dfe --- /dev/null +++ b/train/FloorPlan23/19/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a0de16c0a554e7073751ba627904fc2fddab18bfd09f9a69feb965997413b0b +size 3145856 diff --git a/train/FloorPlan23/19/1_semantic_sensor_npy.npy b/train/FloorPlan23/19/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e2665ced7c4c5aa2503a78a83281988041f45d1c --- /dev/null +++ b/train/FloorPlan23/19/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:281df3b1b56595a7b86de0c6e3b31e5f6c64cda52f3f8d19e6d1a39b65b34f56 +size 2359424 diff --git a/train/FloorPlan23/19/depth_0.png b/train/FloorPlan23/19/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..de24162576c84b781cd8e2f7565474f16058889d Binary files /dev/null and b/train/FloorPlan23/19/depth_0.png differ diff --git a/train/FloorPlan23/19/depth_1.png b/train/FloorPlan23/19/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..82b47f507642ea0e919f2e6413f87882fb7cd490 Binary files /dev/null and b/train/FloorPlan23/19/depth_1.png differ diff --git a/train/FloorPlan23/19/mask_questions.jsonl b/train/FloorPlan23/19/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d34b80734a76cc0f58f6cfb2a9020d3789d869b5 --- /dev/null +++ b/train/FloorPlan23/19/mask_questions.jsonl @@ -0,0 +1,8 @@ +{"id": 15540, "folder_dir": "FloorPlan23/19", "pair_name": "0-1:Cabinet|-01.76|+02.14|-03.69", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Window\nC. StoveBurner\nD. Blinds", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/19/rgb_0.png", "image_2": "FloorPlan23/19/rgb_1.png", "mask_image": "FloorPlan23/19/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png", "options": ["Cabinet", "Window", "StoveBurner", "Blinds"]} +{"id": 15541, "folder_dir": "FloorPlan23/19", "pair_name": "0-1:Microwave|-01.32|+01.52|-03.80", "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. Blinds\nB. StoveBurner\nC. Chair\nD. Microwave", "answer": "D", "object_name": "Microwave", "image_1": "FloorPlan23/19/rgb_0.png", "image_2": "FloorPlan23/19/rgb_1.png", "mask_image": "FloorPlan23/19/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png", "options": ["Blinds", "StoveBurner", "Chair", "Microwave"]} +{"id": 15542, "folder_dir": "FloorPlan23/19", "pair_name": "0-1:Cabinet|-00.33|+01.92|-03.39", "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. Cabinet\nC. StoveBurner\nD. DiningTable", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/19/rgb_0.png", "image_2": "FloorPlan23/19/rgb_1.png", "mask_image": "FloorPlan23/19/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png", "options": ["Chair", "Cabinet", "StoveBurner", "DiningTable"]} +{"id": 15543, "folder_dir": "FloorPlan23/19", "pair_name": "0-1:Cabinet|-00.88|+02.14|-03.69", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. GarbageCan\nC. Window\nD. StoveBurner", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/19/rgb_0.png", "image_2": "FloorPlan23/19/rgb_1.png", "mask_image": "FloorPlan23/19/rgb_1_mask_Cabinet|-00.88|+02.14|-03.69.png", "options": ["Cabinet", "GarbageCan", "Window", "StoveBurner"]} +{"id": 15544, "folder_dir": "FloorPlan23/19", "pair_name": "1-0:Cabinet|-01.76|+02.14|-03.69", "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. StoveBurner\nB. Cabinet\nC. SoapBottle\nD. Spatula", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/19/rgb_1.png", "image_2": "FloorPlan23/19/rgb_0.png", "mask_image": "FloorPlan23/19/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png", "options": ["StoveBurner", "Cabinet", "SoapBottle", "Spatula"]} +{"id": 15545, "folder_dir": "FloorPlan23/19", "pair_name": "1-0:Microwave|-01.32|+01.52|-03.80", "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. Spatula\nB. Cabinet\nC. StoveBurner\nD. Microwave", "answer": "D", "object_name": "Microwave", "image_1": "FloorPlan23/19/rgb_1.png", "image_2": "FloorPlan23/19/rgb_0.png", "mask_image": "FloorPlan23/19/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png", "options": ["Spatula", "Cabinet", "StoveBurner", "Microwave"]} +{"id": 15546, "folder_dir": "FloorPlan23/19", "pair_name": "1-0:Cabinet|-00.33|+01.92|-03.39", "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. StoveBurner\nB. PepperShaker\nC. Toaster\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/19/rgb_1.png", "image_2": "FloorPlan23/19/rgb_0.png", "mask_image": "FloorPlan23/19/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png", "options": ["StoveBurner", "PepperShaker", "Toaster", "Cabinet"]} +{"id": 15547, "folder_dir": "FloorPlan23/19", "pair_name": "1-0:Cabinet|-00.88|+02.14|-03.69", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. ButterKnife\nC. Drawer\nD. StoveBurner", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/19/rgb_1.png", "image_2": "FloorPlan23/19/rgb_0.png", "mask_image": "FloorPlan23/19/rgb_0_mask_Cabinet|-00.88|+02.14|-03.69.png", "options": ["Cabinet", "ButterKnife", "Drawer", "StoveBurner"]} diff --git a/train/FloorPlan23/19/rgb_0.png b/train/FloorPlan23/19/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..929b66af5adfea74bfd7ab494d8330278504de85 --- /dev/null +++ b/train/FloorPlan23/19/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c754aecdf737fb8382f9fe52c6d752e1bd7f56e075379f8c6e1127a0d5239b1 +size 741009 diff --git a/train/FloorPlan23/19/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png b/train/FloorPlan23/19/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png new file mode 100644 index 0000000000000000000000000000000000000000..ed66308acd24559cf30ebfbac07f7b7e99bc20cd --- /dev/null +++ b/train/FloorPlan23/19/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f913daf515912abef35b022de8f2a52a6e9eb3aa7bf22918fa38eac86e6b4875 +size 652023 diff --git a/train/FloorPlan23/19/rgb_0_mask_Cabinet|-00.88|+02.14|-03.69.png b/train/FloorPlan23/19/rgb_0_mask_Cabinet|-00.88|+02.14|-03.69.png new file mode 100644 index 0000000000000000000000000000000000000000..684bdc7f2b75ab80424b64338a0d681efa36c5e8 --- /dev/null +++ b/train/FloorPlan23/19/rgb_0_mask_Cabinet|-00.88|+02.14|-03.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66a30b7ac992286a2dbc975039bbb1d203c95477ca742c4332347ec917d1ef45 +size 653634 diff --git a/train/FloorPlan23/19/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png b/train/FloorPlan23/19/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png new file mode 100644 index 0000000000000000000000000000000000000000..141630f77d3b6329007662aa1deb3797de836c12 --- /dev/null +++ b/train/FloorPlan23/19/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1daafe22452a99980c9aae6f1208939b155a67b0520d699d61ac8821612ee2c +size 653485 diff --git a/train/FloorPlan23/19/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png b/train/FloorPlan23/19/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png new file mode 100644 index 0000000000000000000000000000000000000000..24d73f3fce67d8b25701ea754a5ec37715ee2ecf --- /dev/null +++ b/train/FloorPlan23/19/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0617b926b434516f1997bf51b7921e259b0329d78f03dfc3134d1029c09d0c4 +size 650654 diff --git a/train/FloorPlan23/19/rgb_1.png b/train/FloorPlan23/19/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..7f106ce05bc848c348a56e0c11eb2842e6707afd --- /dev/null +++ b/train/FloorPlan23/19/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1aeef0e303ef493762eb7ccafe7c4fca67bf6699ab04a8fe1a6ccd17e29266b1 +size 763078 diff --git a/train/FloorPlan23/19/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png b/train/FloorPlan23/19/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png new file mode 100644 index 0000000000000000000000000000000000000000..b556fe26438c046c03e20fc16de550ffdb0427d6 --- /dev/null +++ b/train/FloorPlan23/19/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f911805c16b7421ac43414c483f7f5390dad47f2557bec2503573611ec328a2 +size 665146 diff --git a/train/FloorPlan23/19/rgb_1_mask_Cabinet|-00.88|+02.14|-03.69.png b/train/FloorPlan23/19/rgb_1_mask_Cabinet|-00.88|+02.14|-03.69.png new file mode 100644 index 0000000000000000000000000000000000000000..4b9aceaef98b6b84644af9719db1902f1caf4711 --- /dev/null +++ b/train/FloorPlan23/19/rgb_1_mask_Cabinet|-00.88|+02.14|-03.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5251d34e30aff7199cc97180eefe12ac268c0b423c091a04454a4c49563f5a8d +size 659556 diff --git a/train/FloorPlan23/19/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png b/train/FloorPlan23/19/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png new file mode 100644 index 0000000000000000000000000000000000000000..62c726ace177ea9199eddbcbe1a5d6b7f381df6d --- /dev/null +++ b/train/FloorPlan23/19/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cd1c3a0efda33aaf0a704022797d6c05bfed995e55b25f8b520f1a3839f6338 +size 671132 diff --git a/train/FloorPlan23/19/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png b/train/FloorPlan23/19/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png new file mode 100644 index 0000000000000000000000000000000000000000..bd2bf3fce07ce63ab1d6b4a84edf1d4a941d91bc --- /dev/null +++ b/train/FloorPlan23/19/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c03199b4663203c482ea530e2abd01a47e6a5487539f09e468d26a3289ac523e +size 649022 diff --git a/train/FloorPlan23/19/semantic_0.png b/train/FloorPlan23/19/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7b5f1eea6592ff138d26f9345315b87a7504aa07 Binary files /dev/null and b/train/FloorPlan23/19/semantic_0.png differ diff --git a/train/FloorPlan23/19/semantic_1.png b/train/FloorPlan23/19/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..def95649e57f3a0739f5f39d7aa63483d0e5ae4e Binary files /dev/null and b/train/FloorPlan23/19/semantic_1.png differ diff --git a/train/FloorPlan23/2/0.json b/train/FloorPlan23/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8489317a7a2107391e7a96fc3b377ca5d03c6493 --- /dev/null +++ b/train/FloorPlan23/2/0.json @@ -0,0 +1,2462 @@ +{ + "object": [ + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "object_info": { + "name": "Cabinet_b8c26787", + "position": { + "x": -0.8778074383735657, + "y": 0.3888453543186188, + "z": -3.422300100326538 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.647717237472534, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6206655502319336, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.739914894104004 + ] + ], + "center": { + "x": -0.749236524105072, + "y": 0.3888453245162964, + "z": -3.5777101516723633 + }, + "size": { + "x": 0.25714194774627686, + "y": 0.6573984622955322, + "z": 0.32440948486328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.600000023841858, + "y": 0.9009994864463806, + "z": -2.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 202.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.600000023841858, + "y": 1.5759994983673096, + "z": -2.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "StoveBurner|-01.52|+00.93|-03.75", + "Cabinet|-01.76|+02.14|-03.69", + "Plate|-02.12|+00.92|-02.42", + "Microwave|-01.32|+01.52|-03.80", + "SaltShaker|-00.83|+00.90|-03.77", + "CounterTop|-00.30|+00.95|-02.79", + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "StoveBurner|-01.52|+00.93|-03.50", + "DiningTable|-02.43|+00.00|-01.69", + "StoveBurner|-01.13|+00.93|-03.75", + "Cabinet|-00.88|+02.14|-03.69", + "GarbageCan|-01.94|00.00|-03.76", + "Blinds|-02.54|+02.70|-03.96" + ], + "different_object": [ + "Cabinet|-00.88|+00.39|-03.42", + "Window|-02.50|+01.78|-04.19", + "Drawer|-00.75|+00.78|-03.55" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/2/0_depth_npy.npy b/train/FloorPlan23/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..761f7826c99c5cc0d688ec494bb667656e189a1a --- /dev/null +++ b/train/FloorPlan23/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffb67f576eed152df148465ef79b1ab9e16ad8e6c0be8ed74b90afcac8a24ec3 +size 3145856 diff --git a/train/FloorPlan23/2/0_semantic_sensor_npy.npy b/train/FloorPlan23/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d549479d06eb730d3b1494c524eea0673e70fd55 --- /dev/null +++ b/train/FloorPlan23/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ad4c0caa9bdd8b01afb375e4f9f2f36bf2ea30e0897e266d01f2c32844cfde3 +size 2359424 diff --git a/train/FloorPlan23/2/1.json b/train/FloorPlan23/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..7e13eb53365a439282d0690c2644a7a457d2dcf6 --- /dev/null +++ b/train/FloorPlan23/2/1.json @@ -0,0 +1,6732 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.15|-01.69", + "object_info": { + "name": "Shelf_56e7d2ea", + "position": { + "x": -2.432276487350464, + "y": 0.15027305483818054, + "z": -1.6942251920700073 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.5205506086349487, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.15|-01.69", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0256943702697754, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -2.5611023902893066 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.25202104449272156, + "z": -1.6942222118377686 + }, + "size": { + "x": 0.8131651878356934, + "y": 0.20350056886672974, + "z": 1.7337603569030762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -3.9000000953674316, + "y": 0.9009992480278015, + "z": -3.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 50.000003814697266, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -3.9000000953674316, + "y": 1.5759992599487305, + "z": -3.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "StoveBurner|-01.52|+00.93|-03.75", + "Cabinet|-01.76|+02.14|-03.69", + "Plate|-02.12|+00.92|-02.42", + "Microwave|-01.32|+01.52|-03.80", + "SaltShaker|-00.83|+00.90|-03.77", + "CounterTop|-00.30|+00.95|-02.79", + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "StoveBurner|-01.52|+00.93|-03.50", + "DiningTable|-02.43|+00.00|-01.69", + "StoveBurner|-01.13|+00.93|-03.75", + "Cabinet|-00.88|+02.14|-03.69", + "GarbageCan|-01.94|00.00|-03.76", + "Blinds|-02.54|+02.70|-03.96" + ], + "different_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Apple|-02.66|+00.97|-01.55", + "Bowl|-02.75|+00.92|-01.17", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Shelf|-02.43|+00.15|-01.69", + "Bottle|-02.70|+00.92|-00.88", + "Pencil|-02.22|+00.92|-00.86", + "Sink|-00.35|+00.91|-02.01", + "Pot|-02.24|+00.92|-01.88", + "ButterKnife|-00.31|+00.91|-03.44", + "Pan|-02.17|+00.92|-01.10", + "Chair|-03.26|+00.00|-02.09", + "Faucet|-00.08|+00.90|-02.03", + "Tomato|-02.67|+00.98|-02.01", + "Cabinet|-00.58|+00.39|-02.20", + "Pen|-02.33|+00.92|-00.89", + "Cabinet|-00.31|+02.14|-01.54", + "Chair|-03.24|+00.00|-01.25", + "Knife|-02.27|+00.92|-02.14", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Drawer|-00.45|+00.78|-03.27", + "DishSponge|-00.07|+00.91|-01.69", + "PepperShaker|-00.44|+00.90|-03.35", + "Lettuce|-02.62|+01.01|-01.73", + "Cabinet|-00.58|+00.39|-01.80", + "WineBottle|-02.44|+00.92|-02.14", + "Toaster|-00.18|+00.90|-02.76", + "Cabinet|-00.31|+02.14|-02.48", + "Shelf|-02.43|+00.52|-01.69", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.58|+00.39|-03.40", + "Spatula|-00.30|+00.91|-02.54" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/2/1_depth_npy.npy b/train/FloorPlan23/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8f4b8af3c6cbb1f7b188bba9fb81e6803828de0c --- /dev/null +++ b/train/FloorPlan23/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17f5b4ff8f62cee103dd3c28042c577f9c6d7b023bb7adfdee943eba76d3c61e +size 3145856 diff --git a/train/FloorPlan23/2/1_semantic_sensor_npy.npy b/train/FloorPlan23/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..36cb8a6271691e0d03c40521cad2a20cc93156da --- /dev/null +++ b/train/FloorPlan23/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3dd599ad4dca06f1bc7e7cc09ae0770d2e028d265aa6c0d384d2e95d3712e225 +size 2359424 diff --git a/train/FloorPlan23/2/depth_0.png b/train/FloorPlan23/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2db7dda972fb36d62d32158558bcf1c7aa92ddf3 Binary files /dev/null and b/train/FloorPlan23/2/depth_0.png differ diff --git a/train/FloorPlan23/2/depth_1.png b/train/FloorPlan23/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..aa73df97c8630f62aa45484024972fcdd398783a Binary files /dev/null and b/train/FloorPlan23/2/depth_1.png differ diff --git a/train/FloorPlan23/2/mask_questions.jsonl b/train/FloorPlan23/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..013e3417dfe86255b4a9d309237cd1d0d70c36c1 --- /dev/null +++ b/train/FloorPlan23/2/mask_questions.jsonl @@ -0,0 +1,6 @@ +{"id": 15534, "folder_dir": "FloorPlan23/2", "pair_name": "0-1:Microwave|-01.32|+01.52|-03.80", "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. StoveBurner\nB. Microwave\nC. Window\nD. Cabinet", "answer": "B", "object_name": "Microwave", "image_1": "FloorPlan23/2/rgb_0.png", "image_2": "FloorPlan23/2/rgb_1.png", "mask_image": "FloorPlan23/2/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png", "options": ["StoveBurner", "Microwave", "Window", "Cabinet"]} +{"id": 15535, "folder_dir": "FloorPlan23/2", "pair_name": "0-1:Cabinet|-00.33|+01.92|-03.39", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Window\nC. Drawer\nD. StoveBurner", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/2/rgb_0.png", "image_2": "FloorPlan23/2/rgb_1.png", "mask_image": "FloorPlan23/2/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png", "options": ["Cabinet", "Window", "Drawer", "StoveBurner"]} +{"id": 15536, "folder_dir": "FloorPlan23/2", "pair_name": "0-1:GarbageCan|-01.94|00.00|-03.76", "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. StoveBurner\nC. Cabinet\nD. Drawer", "answer": "A", "object_name": "GarbageCan", "image_1": "FloorPlan23/2/rgb_0.png", "image_2": "FloorPlan23/2/rgb_1.png", "mask_image": "FloorPlan23/2/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png", "options": ["GarbageCan", "StoveBurner", "Cabinet", "Drawer"]} +{"id": 15537, "folder_dir": "FloorPlan23/2", "pair_name": "1-0:Microwave|-01.32|+01.52|-03.80", "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. StoveBurner\nB. DishSponge\nC. Cabinet\nD. Microwave", "answer": "D", "object_name": "Microwave", "image_1": "FloorPlan23/2/rgb_1.png", "image_2": "FloorPlan23/2/rgb_0.png", "mask_image": "FloorPlan23/2/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png", "options": ["StoveBurner", "DishSponge", "Cabinet", "Microwave"]} +{"id": 15538, "folder_dir": "FloorPlan23/2", "pair_name": "1-0:Cabinet|-00.33|+01.92|-03.39", "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. Knife\nB. Lettuce\nC. Cabinet\nD. StoveBurner", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/2/rgb_1.png", "image_2": "FloorPlan23/2/rgb_0.png", "mask_image": "FloorPlan23/2/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png", "options": ["Knife", "Lettuce", "Cabinet", "StoveBurner"]} +{"id": 15539, "folder_dir": "FloorPlan23/2", "pair_name": "1-0:GarbageCan|-01.94|00.00|-03.76", "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. Sink\nC. StoveBurner\nD. Drawer", "answer": "A", "object_name": "GarbageCan", "image_1": "FloorPlan23/2/rgb_1.png", "image_2": "FloorPlan23/2/rgb_0.png", "mask_image": "FloorPlan23/2/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png", "options": ["GarbageCan", "Sink", "StoveBurner", "Drawer"]} diff --git a/train/FloorPlan23/2/questions_distance.jsonl b/train/FloorPlan23/2/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0aa0291084ffe2a018544e2ad19406f906d1bbb --- /dev/null +++ b/train/FloorPlan23/2/questions_distance.jsonl @@ -0,0 +1,3 @@ +{"id": 4611, "folder_dir": "FloorPlan23/2", "query": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Toaster\nB. PepperShaker\nC. CoffeeMachine\nD. Other\n", "answer": "A", "src_object": "CounterTop", "target_object": "Toaster", "question": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Toaster", "semantic_id": "Toaster|-00.18|+00.90|-02.76", "distance": 0.32551581694460907, "com": {"x": -0.19870756566524506, "y": 0.9931158423423767, "z": -2.76408052444458}}, {"text": "PepperShaker", "semantic_id": "PepperShaker|-00.44|+00.90|-03.35", "distance": 0.3860291190882056, "com": {"x": -0.4387167692184448, "y": 0.9609774351119995, "z": -3.347060203552246}}, {"text": "CoffeeMachine", "semantic_id": "CoffeeMachine|-00.15|+00.90|-03.14", "distance": 0.33693807644203705, "com": {"x": -0.2524435818195343, "y": 1.1250267028808594, "z": -3.143627166748047}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/2/rgb_0.png", "image_2": "FloorPlan23/2/rgb_1.png"} +{"id": 4612, "folder_dir": "FloorPlan23/2", "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. Pot\nB. Lettuce\nC. Apple\nD. Other\n", "answer": "B", "src_object": "DiningTable", "target_object": "Lettuce", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pot", "semantic_id": "Pot|-02.24|+00.92|-01.88", "distance": 0.5858293435623843, "com": {"x": -2.238513231277466, "y": 0.9807913899421692, "z": -1.8819752931594849}}, {"text": "Lettuce", "semantic_id": "Lettuce|-02.62|+01.01|-01.73", "distance": 0.5853301333959219, "com": {"x": -2.620821714401245, "y": 1.0096420049667358, "z": -1.7274253368377686}}, {"text": "Apple", "semantic_id": "Apple|-02.66|+00.97|-01.55", "distance": 0.58665562724534, "com": {"x": -2.66848087310791, "y": 0.9702385067939758, "z": -1.5395169258117676}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/2/rgb_0.png", "image_2": "FloorPlan23/2/rgb_1.png"} +{"id": 4613, "folder_dir": "FloorPlan23/2", "query": "Which of the following objects is closest to GarbageCan in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. SaltShaker\nB. Plate\nC. Microwave\nD. Other\n", "answer": "A", "src_object": "GarbageCan", "target_object": "SaltShaker", "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": "SaltShaker", "semantic_id": "SaltShaker|-00.83|+00.90|-03.77", "distance": 1.281160242711074, "com": {"x": -0.828997015953064, "y": 0.9593031406402588, "z": -3.7670035362243652}}, {"text": "Plate", "semantic_id": "Plate|-02.12|+00.92|-02.42", "distance": 1.4782665998070361, "com": {"x": -2.1214847564697266, "y": 0.9258545637130737, "z": -2.4231252670288086}}, {"text": "Microwave", "semantic_id": "Microwave|-01.32|+01.52|-03.80", "distance": 1.523397670343225, "com": {"x": -1.3173975944519043, "y": 1.716176986694336, "z": -3.7988924980163574}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/2/rgb_0.png", "image_2": "FloorPlan23/2/rgb_1.png"} diff --git a/train/FloorPlan23/2/rgb_0.png b/train/FloorPlan23/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3ed26e2cedba7a96dd223ce6953b7b9bef5f15e6 --- /dev/null +++ b/train/FloorPlan23/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc0f34a65246d56fa8344f4a798b1e88725662a4ce89a7d985ba3969606a0e32 +size 748721 diff --git a/train/FloorPlan23/2/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png b/train/FloorPlan23/2/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png new file mode 100644 index 0000000000000000000000000000000000000000..04da5be9812bad14e88f378477dcec5493fb6b55 --- /dev/null +++ b/train/FloorPlan23/2/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ef8964178e07a3170365797d9477432dd0203660510eda33fdd2fbd84568afe +size 660684 diff --git a/train/FloorPlan23/2/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png b/train/FloorPlan23/2/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png new file mode 100644 index 0000000000000000000000000000000000000000..fe4073f73de4c431689369e56c8aecf3300cb1ad --- /dev/null +++ b/train/FloorPlan23/2/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e02b98285ad53314f4f95bed4eb2bc7cc36c2b8ff019213dd3ff056f1b68e0d8 +size 650315 diff --git a/train/FloorPlan23/2/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png b/train/FloorPlan23/2/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png new file mode 100644 index 0000000000000000000000000000000000000000..e937a2500c239fe9b5ca55931b4a80062ff458ee --- /dev/null +++ b/train/FloorPlan23/2/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:048fe2a3d13ed80d0964f875fa165732be4719b215da79ad65e0aff20f656235 +size 636964 diff --git a/train/FloorPlan23/2/rgb_1.png b/train/FloorPlan23/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..544f7c9014850c2557b3171fa0750430af6d6fa4 --- /dev/null +++ b/train/FloorPlan23/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:903f7d0ddbc130797465486815a4da4c5881dd1dd2904aa6fe89f768e94e0b41 +size 836456 diff --git a/train/FloorPlan23/2/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png b/train/FloorPlan23/2/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png new file mode 100644 index 0000000000000000000000000000000000000000..29e3de33971547b4e6df5d987697fe005a23ea7f --- /dev/null +++ b/train/FloorPlan23/2/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e15ea463d11210fa377c6b4cae00cfcbc5e81ffd792411d53c223476e5249b90 +size 732633 diff --git a/train/FloorPlan23/2/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png b/train/FloorPlan23/2/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png new file mode 100644 index 0000000000000000000000000000000000000000..1167d6c52d6d5547b08d7bf8de96e79de1c24015 --- /dev/null +++ b/train/FloorPlan23/2/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c384c4d26e8b8b9e5f7907c439f751bc82ec367348a36f4d61c48d8f964604c3 +size 715584 diff --git a/train/FloorPlan23/2/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png b/train/FloorPlan23/2/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png new file mode 100644 index 0000000000000000000000000000000000000000..a072ffba397a76e56f87146d3383866cef1eb0a0 --- /dev/null +++ b/train/FloorPlan23/2/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d49f178e1a4858336e9a5f4bf8fe872c664a8fb393ef64d41174cb5eb19371f4 +size 736442 diff --git a/train/FloorPlan23/2/semantic_0.png b/train/FloorPlan23/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ffb9e9eb80f4f1714973313999f57a91b7701169 Binary files /dev/null and b/train/FloorPlan23/2/semantic_0.png differ diff --git a/train/FloorPlan23/2/semantic_1.png b/train/FloorPlan23/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..7ac97740bd0a64daa5616144a023c74a19b2ea83 Binary files /dev/null and b/train/FloorPlan23/2/semantic_1.png differ diff --git a/train/FloorPlan23/21/0.json b/train/FloorPlan23/21/0.json new file mode 100644 index 0000000000000000000000000000000000000000..a230e5c6b3add05c1db5087a8bcd4eed5fe3ac79 --- /dev/null +++ b/train/FloorPlan23/21/0.json @@ -0,0 +1,1568 @@ +{ + "object": [ + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -3.200000047683716, + "y": 0.9009994864463806, + "z": -0.30000001192092896 + }, + "agent_rotation": { + "x": -0.0, + "y": 68.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -3.200000047683716, + "y": 1.5759994983673096, + "z": -0.30000001192092896 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Cabinet|-00.31|+02.14|-01.54", + "CounterTop|-00.30|+00.95|-02.79", + "Cabinet|-00.31|+02.14|-02.48", + "Cabinet|-00.58|+00.39|-01.80", + "DishSponge|-00.07|+00.91|-01.69", + "Sink|-00.35|+00.91|-02.01|SinkBasin", + "Faucet|-00.08|+00.90|-02.03", + "Sink|-00.35|+00.91|-02.01" + ], + "different_object": [ + "DiningTable|-02.43|+00.00|-01.69", + "Pencil|-02.22|+00.92|-00.86", + "Pan|-02.17|+00.92|-01.10" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/21/0_depth_npy.npy b/train/FloorPlan23/21/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fb1c2a3e3bcd03b07aca18aef22cce52f3939a91 --- /dev/null +++ b/train/FloorPlan23/21/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d0da998685f76a7f1a77fe854ca6d7f3bf195e64a2a342a88fa4fe05662997a +size 3145856 diff --git a/train/FloorPlan23/21/0_semantic_sensor_npy.npy b/train/FloorPlan23/21/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..68daec943fe63388dce5561b3aa8c1b76a47f9a8 --- /dev/null +++ b/train/FloorPlan23/21/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55caecceae379da8afe6d62d579cea59047da63e9734adc557d76c3061659148 +size 2359424 diff --git a/train/FloorPlan23/21/1.json b/train/FloorPlan23/21/1.json new file mode 100644 index 0000000000000000000000000000000000000000..1498475b3650243f7f9356f0c7250bbbade2df47 --- /dev/null +++ b/train/FloorPlan23/21/1.json @@ -0,0 +1,3892 @@ +{ + "object": [ + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "object_info": { + "name": "Cabinet_b8c26787", + "position": { + "x": -0.8778074383735657, + "y": 0.3888453543186188, + "z": -3.422300100326538 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.647717237472534, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6206655502319336, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.739914894104004 + ] + ], + "center": { + "x": -0.749236524105072, + "y": 0.3888453245162964, + "z": -3.5777101516723633 + }, + "size": { + "x": 0.25714194774627686, + "y": 0.6573984622955322, + "z": 0.32440948486328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Spoon|-00.33|+00.79|-02.12", + "object_info": { + "name": "Spoon_ef4541de", + "position": { + "x": -0.32795315980911255, + "y": 0.7871569991111755, + "z": -2.1250267028808594 + }, + "rotation": { + "x": 0.3525198698043823, + "y": 33.92948532104492, + "z": 0.8351927399635315 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.129457950592041, + "objectType": "Spoon", + "objectId": "Spoon|-00.33|+00.79|-02.12", + "assetId": "Spoon_1", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26713094115257263, + 0.8056613206863403, + -2.0415267944335938 + ], + [ + -0.26713094115257263, + 0.8056613206863403, + -2.2291860580444336 + ], + [ + -0.26713094115257263, + 0.7863336801528931, + -2.0415267944335938 + ], + [ + -0.26713094115257263, + 0.7863336801528931, + -2.2291860580444336 + ], + [ + -0.40064141154289246, + 0.8056613206863403, + -2.0415267944335938 + ], + [ + -0.40064141154289246, + 0.8056613206863403, + -2.2291860580444336 + ], + [ + -0.40064141154289246, + 0.7863336801528931, + -2.0415267944335938 + ], + [ + -0.40064141154289246, + 0.7863336801528931, + -2.2291860580444336 + ] + ], + "center": { + "x": -0.33388617634773254, + "y": 0.7959975004196167, + "z": -2.1353564262390137 + }, + "size": { + "x": 0.13351047039031982, + "y": 0.019327640533447266, + "z": 0.18765926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.2613292932510376, + 0.7864380478858948, + -2.061155319213867 + ], + [ + -0.2956712245941162, + 0.7858347296714783, + -2.038057327270508 + ], + [ + -0.41144806146621704, + 0.7871109247207642, + -2.21016001701355 + ], + [ + -0.3771061301231384, + 0.7877142429351807, + -2.233258008956909 + ], + [ + -0.26149433851242065, + 0.8054919838905334, + -2.0609030723571777 + ], + [ + -0.29583626985549927, + 0.8048886656761169, + -2.0378048419952393 + ], + [ + -0.4116131067276001, + 0.8061648607254028, + -2.2099077701568604 + ], + [ + -0.3772711455821991, + 0.8067681789398193, + -2.2330057621002197 + ] + ] + } + } + }, + { + "objectId": "Fork|-00.30|+00.79|-01.86", + "object_info": { + "name": "Fork_2ddc3e45", + "position": { + "x": -0.29574909806251526, + "y": 0.7884383797645569, + "z": -1.8586688041687012 + }, + "rotation": { + "x": 0.28218215703964233, + "y": -0.001193281845189631, + "z": 359.9201965332031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.0284688472747803, + "objectType": "Fork", + "objectId": "Fork|-00.30|+00.79|-01.86", + "assetId": "Fork_1", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2790178656578064, + 0.8070268630981445, + -1.7569708824157715 + ], + [ + -0.2790178656578064, + 0.8070268630981445, + -2.004701614379883 + ], + [ + -0.2790178656578064, + 0.7866312265396118, + -1.7569708824157715 + ], + [ + -0.2790178656578064, + 0.7866312265396118, + -2.004701614379883 + ], + [ + -0.3124590516090393, + 0.8070268630981445, + -1.7569708824157715 + ], + [ + -0.3124590516090393, + 0.8070268630981445, + -2.004701614379883 + ], + [ + -0.3124590516090393, + 0.7866312265396118, + -1.7569708824157715 + ], + [ + -0.3124590516090393, + 0.7866312265396118, + -2.004701614379883 + ] + ], + "center": { + "x": -0.29573845863342285, + "y": 0.7968290448188782, + "z": -1.8808362483978271 + }, + "size": { + "x": 0.03344118595123291, + "y": 0.020395636558532715, + "z": 0.24773073196411133 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.2790479063987732, + 0.785405158996582, + -1.7570518255233765 + ], + [ + -0.3124615550041199, + 0.7854517102241516, + -1.7570523023605347 + ], + [ + -0.3124563694000244, + 0.78667151927948, + -2.004727363586426 + ], + [ + -0.27904272079467773, + 0.7866249680519104, + -2.0047268867492676 + ], + [ + -0.2790178656578064, + 0.806972861289978, + -1.7569456100463867 + ], + [ + -0.3124315142631531, + 0.8070194125175476, + -1.756946086883545 + ], + [ + -0.31242635846138, + 0.808239221572876, + -2.0046212673187256 + ], + [ + -0.2790127098560333, + 0.8081926703453064, + -2.0046207904815674 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.899999976158142, + "y": 0.9009994864463806, + "z": -0.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 114.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.899999976158142, + "y": 1.5759994983673096, + "z": -0.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Cabinet|-00.31|+02.14|-01.54", + "CounterTop|-00.30|+00.95|-02.79", + "Cabinet|-00.31|+02.14|-02.48", + "Cabinet|-00.58|+00.39|-01.80", + "DishSponge|-00.07|+00.91|-01.69", + "Sink|-00.35|+00.91|-02.01|SinkBasin", + "Faucet|-00.08|+00.90|-02.03", + "Sink|-00.35|+00.91|-02.01" + ], + "different_object": [ + "Fork|-00.30|+00.79|-01.86", + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Drawer|-00.75|+00.78|-03.55", + "ButterKnife|-00.31|+00.91|-03.44", + "SaltShaker|-00.83|+00.90|-03.77", + "Cabinet|-00.58|+00.39|-02.20", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Microwave|-01.32|+01.52|-03.80", + "Drawer|-00.45|+00.78|-03.27", + "StoveBurner|-01.13|+00.93|-03.75", + "PepperShaker|-00.44|+00.90|-03.35", + "Toaster|-00.18|+00.90|-02.76", + "Spoon|-00.33|+00.79|-02.12", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.58|+00.39|-03.40", + "Cabinet|-00.88|+02.14|-03.69", + "Spatula|-00.30|+00.91|-02.54", + "Cabinet|-00.88|+00.39|-03.42" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/21/1_depth_npy.npy b/train/FloorPlan23/21/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..36aa4ac628190843324388e52f9b73aee09ae5a7 --- /dev/null +++ b/train/FloorPlan23/21/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c8a18c2ca9f71cdcd19362de09c1452776a8f65ad8ca16bb1a4c6bfc7c64154 +size 3145856 diff --git a/train/FloorPlan23/21/1_semantic_sensor_npy.npy b/train/FloorPlan23/21/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e0166fa30be4ffce68bdb2443cb95567ea576ad8 --- /dev/null +++ b/train/FloorPlan23/21/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73cdceeb1babb3b14464107f3c0c8aba04e02126d8636cc2dccd41e6631bffb5 +size 2359424 diff --git a/train/FloorPlan23/21/depth_0.png b/train/FloorPlan23/21/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..fc7db78d78774b001a9e988d2e215d20d71e0e54 Binary files /dev/null and b/train/FloorPlan23/21/depth_0.png differ diff --git a/train/FloorPlan23/21/depth_1.png b/train/FloorPlan23/21/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..85c916a722a23a0058c4a58c5aaef0b7a3b2f08c Binary files /dev/null and b/train/FloorPlan23/21/depth_1.png differ diff --git a/train/FloorPlan23/21/mask_questions.jsonl b/train/FloorPlan23/21/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..43a63954e5e03feddb237df664b67f0ef56fdcf0 --- /dev/null +++ b/train/FloorPlan23/21/mask_questions.jsonl @@ -0,0 +1,6 @@ +{"id": 15422, "folder_dir": "FloorPlan23/21", "pair_name": "0-1:Fridge|-00.33|+00.00|-00.77", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Fridge\nC. DiningTable\nD. Pencil", "answer": "B", "object_name": "Fridge", "image_1": "FloorPlan23/21/rgb_0.png", "image_2": "FloorPlan23/21/rgb_1.png", "mask_image": "FloorPlan23/21/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png", "options": ["Cabinet", "Fridge", "DiningTable", "Pencil"]} +{"id": 15423, "folder_dir": "FloorPlan23/21", "pair_name": "0-1:Cabinet|-00.31|+02.14|-01.54", "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. Pan\nB. Cabinet\nC. Fridge\nD. DiningTable", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/21/rgb_0.png", "image_2": "FloorPlan23/21/rgb_1.png", "mask_image": "FloorPlan23/21/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png", "options": ["Pan", "Cabinet", "Fridge", "DiningTable"]} +{"id": 15424, "folder_dir": "FloorPlan23/21", "pair_name": "0-1:Cabinet|-00.58|+00.39|-01.80", "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. Cabinet\nC. Pan\nD. DiningTable", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/21/rgb_0.png", "image_2": "FloorPlan23/21/rgb_1.png", "mask_image": "FloorPlan23/21/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png", "options": ["Fridge", "Cabinet", "Pan", "DiningTable"]} +{"id": 15425, "folder_dir": "FloorPlan23/21", "pair_name": "1-0:Fridge|-00.33|+00.00|-00.77", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. SaltShaker\nC. Toaster\nD. Fridge", "answer": "D", "object_name": "Fridge", "image_1": "FloorPlan23/21/rgb_1.png", "image_2": "FloorPlan23/21/rgb_0.png", "mask_image": "FloorPlan23/21/rgb_0_mask_Fridge|-00.33|+00.00|-00.77.png", "options": ["Cabinet", "SaltShaker", "Toaster", "Fridge"]} +{"id": 15426, "folder_dir": "FloorPlan23/21", "pair_name": "1-0:Cabinet|-00.31|+02.14|-01.54", "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. Cabinet\nC. Bread\nD. StoveBurner", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/21/rgb_1.png", "image_2": "FloorPlan23/21/rgb_0.png", "mask_image": "FloorPlan23/21/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png", "options": ["Fridge", "Cabinet", "Bread", "StoveBurner"]} +{"id": 15427, "folder_dir": "FloorPlan23/21", "pair_name": "1-0:Cabinet|-00.58|+00.39|-01.80", "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. Spoon\nB. Fridge\nC. Fork\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/21/rgb_1.png", "image_2": "FloorPlan23/21/rgb_0.png", "mask_image": "FloorPlan23/21/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png", "options": ["Spoon", "Fridge", "Fork", "Cabinet"]} diff --git a/train/FloorPlan23/21/questions_distance.jsonl b/train/FloorPlan23/21/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b694c636fdb9765cd58431e9e278844c910ccf3e --- /dev/null +++ b/train/FloorPlan23/21/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 4594, "folder_dir": "FloorPlan23/21", "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. Fork\nB. DishSponge\nC. Faucet\nD. Other\n", "answer": "B", "src_object": "Fridge", "target_object": "DishSponge", "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": "Fork", "semantic_id": "Fork|-00.30|+00.79|-01.86", "distance": 1.1317815004343368, "com": {"x": -0.29573845863342285, "y": 0.7968290448188782, "z": -1.8808362483978271}}, {"text": "DishSponge", "semantic_id": "DishSponge|-00.07|+00.91|-01.69", "distance": 0.9572340251047243, "com": {"x": -0.07007645070552826, "y": 0.9169249534606934, "z": -1.6864699125289917}}, {"text": "Faucet", "semantic_id": "Faucet|-00.08|+00.90|-02.03", "distance": 1.2748797529870763, "com": {"x": -0.1677103042602539, "y": 0.9829331636428833, "z": -2.0341999530792236}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/21/rgb_0.png", "image_2": "FloorPlan23/21/rgb_1.png"} diff --git a/train/FloorPlan23/21/rgb_0.png b/train/FloorPlan23/21/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..50ba06c883df4fae678ec0c09ebd1c04000e9b89 --- /dev/null +++ b/train/FloorPlan23/21/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eda69de6893e4379103d9957ff2b58d44b7db2f80ba120a7d7793251e498ffa0 +size 779811 diff --git a/train/FloorPlan23/21/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png b/train/FloorPlan23/21/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png new file mode 100644 index 0000000000000000000000000000000000000000..c3a02f4da530f1d5aa523cbe2c20034332aa152f --- /dev/null +++ b/train/FloorPlan23/21/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3359c5ac3c6ed51cf4ec602ac723e6d85eab05f430c7347bdded7afe32caf423 +size 679832 diff --git a/train/FloorPlan23/21/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png b/train/FloorPlan23/21/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png new file mode 100644 index 0000000000000000000000000000000000000000..b7e613f0ae441589fc53aacc13271ccc2517e950 --- /dev/null +++ b/train/FloorPlan23/21/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49e9eaaab1114c54f0bf5821c3f1dbdc3ec96906dccca439f970fae69ac68aae +size 678995 diff --git a/train/FloorPlan23/21/rgb_0_mask_Fridge|-00.33|+00.00|-00.77.png b/train/FloorPlan23/21/rgb_0_mask_Fridge|-00.33|+00.00|-00.77.png new file mode 100644 index 0000000000000000000000000000000000000000..cdd4a8b432058562b587a8ab06932941814f5091 --- /dev/null +++ b/train/FloorPlan23/21/rgb_0_mask_Fridge|-00.33|+00.00|-00.77.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a90472893e9d6216bdaad0a560eb08a83c483c61fd8ab02f5c35c074a19e0402 +size 615991 diff --git a/train/FloorPlan23/21/rgb_1.png b/train/FloorPlan23/21/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..0f00dd6cec52729766678306533b06f4977a8709 --- /dev/null +++ b/train/FloorPlan23/21/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0198f5834f459ce0429d3839c39b53c9b8743cf767f6e1180932a7744f84603d +size 818349 diff --git a/train/FloorPlan23/21/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png b/train/FloorPlan23/21/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png new file mode 100644 index 0000000000000000000000000000000000000000..ac0305050a064e54c4e3bead7ae7c6291b2ddd47 --- /dev/null +++ b/train/FloorPlan23/21/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1de1e4a0cb209ee91a18b54ade6df712042c6ca7e305f6fce6d2ad4aa8a45ad +size 720126 diff --git a/train/FloorPlan23/21/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png b/train/FloorPlan23/21/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png new file mode 100644 index 0000000000000000000000000000000000000000..2f21ae44509e76a36156bb1009a5e056f4251dbb --- /dev/null +++ b/train/FloorPlan23/21/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfc3c7d40206bb1216dc0e883743bcb202b09faf4a3b9ad52d315f9254c52ce7 +size 716838 diff --git a/train/FloorPlan23/21/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png b/train/FloorPlan23/21/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png new file mode 100644 index 0000000000000000000000000000000000000000..1bafb1d7f2c1ad82b9eeff8e650056b19c7c94ce --- /dev/null +++ b/train/FloorPlan23/21/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9de8590e9cecbccf1478bb28b370acc0e46efa6743e3dd44b18ab4c1e69b4a51 +size 549800 diff --git a/train/FloorPlan23/21/semantic_0.png b/train/FloorPlan23/21/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ceeb2a7289f68cddcc51816c594ed7ce842ee0e2 Binary files /dev/null and b/train/FloorPlan23/21/semantic_0.png differ diff --git a/train/FloorPlan23/21/semantic_1.png b/train/FloorPlan23/21/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d92fe1b7430c21643dce4b74a8e62b55f59334e9 Binary files /dev/null and b/train/FloorPlan23/21/semantic_1.png differ diff --git a/train/FloorPlan23/24/0.json b/train/FloorPlan23/24/0.json new file mode 100644 index 0000000000000000000000000000000000000000..b743d2225d80f2f4206207e4b44e6be68a2262a9 --- /dev/null +++ b/train/FloorPlan23/24/0.json @@ -0,0 +1,3253 @@ +{ + "object": [ + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Spoon|-00.33|+00.79|-02.12", + "object_info": { + "name": "Spoon_ef4541de", + "position": { + "x": -0.32795315980911255, + "y": 0.7871569991111755, + "z": -2.1250267028808594 + }, + "rotation": { + "x": 0.3525198698043823, + "y": 33.92948532104492, + "z": 0.8351927399635315 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.129457950592041, + "objectType": "Spoon", + "objectId": "Spoon|-00.33|+00.79|-02.12", + "assetId": "Spoon_1", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26713094115257263, + 0.8056613206863403, + -2.0415267944335938 + ], + [ + -0.26713094115257263, + 0.8056613206863403, + -2.2291860580444336 + ], + [ + -0.26713094115257263, + 0.7863336801528931, + -2.0415267944335938 + ], + [ + -0.26713094115257263, + 0.7863336801528931, + -2.2291860580444336 + ], + [ + -0.40064141154289246, + 0.8056613206863403, + -2.0415267944335938 + ], + [ + -0.40064141154289246, + 0.8056613206863403, + -2.2291860580444336 + ], + [ + -0.40064141154289246, + 0.7863336801528931, + -2.0415267944335938 + ], + [ + -0.40064141154289246, + 0.7863336801528931, + -2.2291860580444336 + ] + ], + "center": { + "x": -0.33388617634773254, + "y": 0.7959975004196167, + "z": -2.1353564262390137 + }, + "size": { + "x": 0.13351047039031982, + "y": 0.019327640533447266, + "z": 0.18765926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.2613292932510376, + 0.7864380478858948, + -2.061155319213867 + ], + [ + -0.2956712245941162, + 0.7858347296714783, + -2.038057327270508 + ], + [ + -0.41144806146621704, + 0.7871109247207642, + -2.21016001701355 + ], + [ + -0.3771061301231384, + 0.7877142429351807, + -2.233258008956909 + ], + [ + -0.26149433851242065, + 0.8054919838905334, + -2.0609030723571777 + ], + [ + -0.29583626985549927, + 0.8048886656761169, + -2.0378048419952393 + ], + [ + -0.4116131067276001, + 0.8061648607254028, + -2.2099077701568604 + ], + [ + -0.3772711455821991, + 0.8067681789398193, + -2.2330057621002197 + ] + ] + } + } + }, + { + "objectId": "Fork|-00.30|+00.79|-01.86", + "object_info": { + "name": "Fork_2ddc3e45", + "position": { + "x": -0.29574909806251526, + "y": 0.7884383797645569, + "z": -1.8586688041687012 + }, + "rotation": { + "x": 0.28218215703964233, + "y": -0.001193281845189631, + "z": 359.9201965332031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.0284688472747803, + "objectType": "Fork", + "objectId": "Fork|-00.30|+00.79|-01.86", + "assetId": "Fork_1", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2790178656578064, + 0.8070268630981445, + -1.7569708824157715 + ], + [ + -0.2790178656578064, + 0.8070268630981445, + -2.004701614379883 + ], + [ + -0.2790178656578064, + 0.7866312265396118, + -1.7569708824157715 + ], + [ + -0.2790178656578064, + 0.7866312265396118, + -2.004701614379883 + ], + [ + -0.3124590516090393, + 0.8070268630981445, + -1.7569708824157715 + ], + [ + -0.3124590516090393, + 0.8070268630981445, + -2.004701614379883 + ], + [ + -0.3124590516090393, + 0.7866312265396118, + -1.7569708824157715 + ], + [ + -0.3124590516090393, + 0.7866312265396118, + -2.004701614379883 + ] + ], + "center": { + "x": -0.29573845863342285, + "y": 0.7968290448188782, + "z": -1.8808362483978271 + }, + "size": { + "x": 0.03344118595123291, + "y": 0.020395636558532715, + "z": 0.24773073196411133 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.2790479063987732, + 0.785405158996582, + -1.7570518255233765 + ], + [ + -0.3124615550041199, + 0.7854517102241516, + -1.7570523023605347 + ], + [ + -0.3124563694000244, + 0.78667151927948, + -2.004727363586426 + ], + [ + -0.27904272079467773, + 0.7866249680519104, + -2.0047268867492676 + ], + [ + -0.2790178656578064, + 0.806972861289978, + -1.7569456100463867 + ], + [ + -0.3124315142631531, + 0.8070194125175476, + -1.756946086883545 + ], + [ + -0.31242635846138, + 0.808239221572876, + -2.0046212673187256 + ], + [ + -0.2790127098560333, + 0.8081926703453064, + -2.0046207904815674 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.0, + "y": 0.9009993076324463, + "z": -3.1000001430511475 + }, + "agent_rotation": { + "x": -0.0, + "y": 63.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.0, + "y": 1.5759992599487305, + "z": -3.1000001430511475 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Sink|-00.35|+00.91|-02.01", + "ButterKnife|-00.31|+00.91|-03.44", + "CounterTop|-00.30|+00.95|-02.79", + "Sink|-00.35|+00.91|-02.01|SinkBasin", + "Faucet|-00.08|+00.90|-02.03", + "Cabinet|-00.58|+00.39|-02.20", + "Cabinet|-00.31|+02.14|-01.54", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Drawer|-00.45|+00.78|-03.27", + "DishSponge|-00.07|+00.91|-01.69", + "PepperShaker|-00.44|+00.90|-03.35", + "Cabinet|-00.58|+00.39|-01.80", + "Toaster|-00.18|+00.90|-02.76", + "Cabinet|-00.31|+02.14|-02.48", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.58|+00.39|-03.40", + "Spatula|-00.30|+00.91|-02.54" + ], + "different_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "Drawer|-00.75|+00.78|-03.55" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/24/0_depth_npy.npy b/train/FloorPlan23/24/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..789d8f268c44799ce49db21f2aa29fddde3f9988 --- /dev/null +++ b/train/FloorPlan23/24/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5fcf960a09ea9285825befc2b27722640fd4f522b46c314548f78b2e1a8ca12 +size 3145856 diff --git a/train/FloorPlan23/24/0_semantic_sensor_npy.npy b/train/FloorPlan23/24/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e16e8a1aa2c7509c5b045bbc8c876c43f4eff984 --- /dev/null +++ b/train/FloorPlan23/24/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79db65f4b8538228f9ba7f3d8c83505d2872314211e05198278b636ab8b9a0f0 +size 2359424 diff --git a/train/FloorPlan23/24/1.json b/train/FloorPlan23/24/1.json new file mode 100644 index 0000000000000000000000000000000000000000..e8186d24d5c2c7d179cc97d9bd94339e6d36c376 --- /dev/null +++ b/train/FloorPlan23/24/1.json @@ -0,0 +1,3950 @@ +{ + "object": [ + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -3.0, + "y": 0.9009992480278015, + "z": -3.299999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 113.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -3.0, + "y": 1.5759992599487305, + "z": -3.299999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Sink|-00.35|+00.91|-02.01", + "ButterKnife|-00.31|+00.91|-03.44", + "CounterTop|-00.30|+00.95|-02.79", + "Sink|-00.35|+00.91|-02.01|SinkBasin", + "Faucet|-00.08|+00.90|-02.03", + "Cabinet|-00.58|+00.39|-02.20", + "Cabinet|-00.31|+02.14|-01.54", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Drawer|-00.45|+00.78|-03.27", + "DishSponge|-00.07|+00.91|-01.69", + "PepperShaker|-00.44|+00.90|-03.35", + "Cabinet|-00.58|+00.39|-01.80", + "Toaster|-00.18|+00.90|-02.76", + "Cabinet|-00.31|+02.14|-02.48", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.58|+00.39|-03.40", + "Spatula|-00.30|+00.91|-02.54" + ], + "different_object": [ + "StoveBurner|-01.52|+00.93|-03.75", + "Window|-02.50|+01.78|-04.19", + "Blinds|-02.54|+02.70|-03.96", + "Cabinet|-01.76|+02.14|-03.69", + "Microwave|-01.32|+01.52|-03.80", + "SaltShaker|-00.83|+00.90|-03.77", + "StoveBurner|-01.52|+00.93|-03.50", + "StoveBurner|-01.13|+00.93|-03.75", + "GarbageCan|-01.94|00.00|-03.76", + "Cabinet|-00.88|+02.14|-03.69" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/24/1_depth_npy.npy b/train/FloorPlan23/24/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b5d94aac14b5a704484d06c0c5aea6c489c65173 --- /dev/null +++ b/train/FloorPlan23/24/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ac2d73cae17c46beb376dcee0d658e883d70d4f9ab6e60c2e154639d6add2c4 +size 3145856 diff --git a/train/FloorPlan23/24/1_semantic_sensor_npy.npy b/train/FloorPlan23/24/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..574353577606bf3fbbfcd1d07ce0f0d05df89a9b --- /dev/null +++ b/train/FloorPlan23/24/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:227242c8f88ad45d1e985878352c992d0059d7dc5e2e0f44882711f32da58e78 +size 2359424 diff --git a/train/FloorPlan23/24/depth_0.png b/train/FloorPlan23/24/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..4c3acc7e408fd5ec7f265050ab68c9fbfd6c9ba3 Binary files /dev/null and b/train/FloorPlan23/24/depth_0.png differ diff --git a/train/FloorPlan23/24/depth_1.png b/train/FloorPlan23/24/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a1ba566a1c586f36575bd73af6cfb9f43d1d865f Binary files /dev/null and b/train/FloorPlan23/24/depth_1.png differ diff --git a/train/FloorPlan23/24/mask_questions.jsonl b/train/FloorPlan23/24/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d92f5c3410e472e1f60ec730ce42f3c20b6eb6a3 --- /dev/null +++ b/train/FloorPlan23/24/mask_questions.jsonl @@ -0,0 +1,18 @@ +{"id": 15516, "folder_dir": "FloorPlan23/24", "pair_name": "0-1:Cabinet|-00.33|+01.92|-03.39", "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. StoveBurner\nC. Fridge\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/24/rgb_0.png", "image_2": "FloorPlan23/24/rgb_1.png", "mask_image": "FloorPlan23/24/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png", "options": ["Drawer", "StoveBurner", "Fridge", "Cabinet"]} +{"id": 15517, "folder_dir": "FloorPlan23/24", "pair_name": "0-1:Cabinet|-00.30|+01.92|-02.50", "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. Spoon\nB. Fork\nC. Cabinet\nD. StoveBurner", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/24/rgb_0.png", "image_2": "FloorPlan23/24/rgb_1.png", "mask_image": "FloorPlan23/24/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png", "options": ["Spoon", "Fork", "Cabinet", "StoveBurner"]} +{"id": 15518, "folder_dir": "FloorPlan23/24", "pair_name": "0-1:Cabinet|-00.58|+00.39|-02.20", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Spoon\nC. StoveBurner\nD. Fridge", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/24/rgb_0.png", "image_2": "FloorPlan23/24/rgb_1.png", "mask_image": "FloorPlan23/24/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png", "options": ["Cabinet", "Spoon", "StoveBurner", "Fridge"]} +{"id": 15519, "folder_dir": "FloorPlan23/24", "pair_name": "0-1:Cabinet|-00.31|+02.14|-01.54", "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. StoveBurner\nC. Drawer\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/24/rgb_0.png", "image_2": "FloorPlan23/24/rgb_1.png", "mask_image": "FloorPlan23/24/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png", "options": ["Fridge", "StoveBurner", "Drawer", "Cabinet"]} +{"id": 15520, "folder_dir": "FloorPlan23/24", "pair_name": "0-1:CoffeeMachine|-00.15|+00.90|-03.14", "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. StoveBurner\nB. Fridge\nC. CoffeeMachine\nD. Fork", "answer": "C", "object_name": "CoffeeMachine", "image_1": "FloorPlan23/24/rgb_0.png", "image_2": "FloorPlan23/24/rgb_1.png", "mask_image": "FloorPlan23/24/rgb_1_mask_CoffeeMachine|-00.15|+00.90|-03.14.png", "options": ["StoveBurner", "Fridge", "CoffeeMachine", "Fork"]} +{"id": 15521, "folder_dir": "FloorPlan23/24", "pair_name": "0-1:Cabinet|-00.58|+00.39|-01.80", "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. Fork\nB. Drawer\nC. StoveBurner\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/24/rgb_0.png", "image_2": "FloorPlan23/24/rgb_1.png", "mask_image": "FloorPlan23/24/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png", "options": ["Fork", "Drawer", "StoveBurner", "Cabinet"]} +{"id": 15522, "folder_dir": "FloorPlan23/24", "pair_name": "0-1:Toaster|-00.18|+00.90|-02.76", "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. StoveBurner\nC. Toaster\nD. Fridge", "answer": "C", "object_name": "Toaster", "image_1": "FloorPlan23/24/rgb_0.png", "image_2": "FloorPlan23/24/rgb_1.png", "mask_image": "FloorPlan23/24/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png", "options": ["Drawer", "StoveBurner", "Toaster", "Fridge"]} +{"id": 15523, "folder_dir": "FloorPlan23/24", "pair_name": "0-1:Cabinet|-00.31|+02.14|-02.48", "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. Cabinet\nB. Drawer\nC. StoveBurner\nD. Fridge", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/24/rgb_0.png", "image_2": "FloorPlan23/24/rgb_1.png", "mask_image": "FloorPlan23/24/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png", "options": ["Cabinet", "Drawer", "StoveBurner", "Fridge"]} +{"id": 15524, "folder_dir": "FloorPlan23/24", "pair_name": "0-1:Cabinet|-00.58|+00.39|-03.40", "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. Fridge\nB. StoveBurner\nC. Drawer\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/24/rgb_0.png", "image_2": "FloorPlan23/24/rgb_1.png", "mask_image": "FloorPlan23/24/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png", "options": ["Fridge", "StoveBurner", "Drawer", "Cabinet"]} +{"id": 15525, "folder_dir": "FloorPlan23/24", "pair_name": "1-0:Cabinet|-00.33|+01.92|-03.39", "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. Microwave\nB. GarbageCan\nC. Cabinet\nD. StoveBurner", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/24/rgb_1.png", "image_2": "FloorPlan23/24/rgb_0.png", "mask_image": "FloorPlan23/24/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png", "options": ["Microwave", "GarbageCan", "Cabinet", "StoveBurner"]} +{"id": 15526, "folder_dir": "FloorPlan23/24", "pair_name": "1-0:Cabinet|-00.30|+01.92|-02.50", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. SaltShaker\nB. Microwave\nC. Cabinet\nD. StoveBurner", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/24/rgb_1.png", "image_2": "FloorPlan23/24/rgb_0.png", "mask_image": "FloorPlan23/24/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png", "options": ["SaltShaker", "Microwave", "Cabinet", "StoveBurner"]} +{"id": 15527, "folder_dir": "FloorPlan23/24", "pair_name": "1-0:Cabinet|-00.58|+00.39|-02.20", "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. StoveBurner\nB. SaltShaker\nC. Cabinet\nD. Microwave", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/24/rgb_1.png", "image_2": "FloorPlan23/24/rgb_0.png", "mask_image": "FloorPlan23/24/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png", "options": ["StoveBurner", "SaltShaker", "Cabinet", "Microwave"]} +{"id": 15528, "folder_dir": "FloorPlan23/24", "pair_name": "1-0:Cabinet|-00.31|+02.14|-01.54", "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. Blinds\nB. StoveBurner\nC. Window\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/24/rgb_1.png", "image_2": "FloorPlan23/24/rgb_0.png", "mask_image": "FloorPlan23/24/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png", "options": ["Blinds", "StoveBurner", "Window", "Cabinet"]} +{"id": 15529, "folder_dir": "FloorPlan23/24", "pair_name": "1-0:CoffeeMachine|-00.15|+00.90|-03.14", "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. CoffeeMachine\nB. Window\nC. Blinds\nD. StoveBurner", "answer": "A", "object_name": "CoffeeMachine", "image_1": "FloorPlan23/24/rgb_1.png", "image_2": "FloorPlan23/24/rgb_0.png", "mask_image": "FloorPlan23/24/rgb_0_mask_CoffeeMachine|-00.15|+00.90|-03.14.png", "options": ["CoffeeMachine", "Window", "Blinds", "StoveBurner"]} +{"id": 15530, "folder_dir": "FloorPlan23/24", "pair_name": "1-0:Cabinet|-00.58|+00.39|-01.80", "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. Cabinet\nC. StoveBurner\nD. Microwave", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/24/rgb_1.png", "image_2": "FloorPlan23/24/rgb_0.png", "mask_image": "FloorPlan23/24/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png", "options": ["GarbageCan", "Cabinet", "StoveBurner", "Microwave"]} +{"id": 15531, "folder_dir": "FloorPlan23/24", "pair_name": "1-0:Toaster|-00.18|+00.90|-02.76", "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. StoveBurner\nB. Microwave\nC. Cabinet\nD. Toaster", "answer": "D", "object_name": "Toaster", "image_1": "FloorPlan23/24/rgb_1.png", "image_2": "FloorPlan23/24/rgb_0.png", "mask_image": "FloorPlan23/24/rgb_0_mask_Toaster|-00.18|+00.90|-02.76.png", "options": ["StoveBurner", "Microwave", "Cabinet", "Toaster"]} +{"id": 15532, "folder_dir": "FloorPlan23/24", "pair_name": "1-0:Cabinet|-00.31|+02.14|-02.48", "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. Cabinet\nB. Window\nC. Microwave\nD. StoveBurner", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/24/rgb_1.png", "image_2": "FloorPlan23/24/rgb_0.png", "mask_image": "FloorPlan23/24/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png", "options": ["Cabinet", "Window", "Microwave", "StoveBurner"]} +{"id": 15533, "folder_dir": "FloorPlan23/24", "pair_name": "1-0:Cabinet|-00.58|+00.39|-03.40", "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. Cabinet\nB. Microwave\nC. StoveBurner\nD. Window", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/24/rgb_1.png", "image_2": "FloorPlan23/24/rgb_0.png", "mask_image": "FloorPlan23/24/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png", "options": ["Cabinet", "Microwave", "StoveBurner", "Window"]} diff --git a/train/FloorPlan23/24/questions_distance.jsonl b/train/FloorPlan23/24/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..691ac2d8ee275ff42ae4a668d2fdde63175c7b59 --- /dev/null +++ b/train/FloorPlan23/24/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 4610, "folder_dir": "FloorPlan23/24", "query": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CoffeeMachine\nB. PepperShaker\nC. Toaster\nD. Other\n", "answer": "C", "src_object": "CounterTop", "target_object": "Toaster", "question": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "CoffeeMachine", "semantic_id": "CoffeeMachine|-00.15|+00.90|-03.14", "distance": 0.33693807644203705, "com": {"x": -0.2524435818195343, "y": 1.1250267028808594, "z": -3.143627166748047}}, {"text": "PepperShaker", "semantic_id": "PepperShaker|-00.44|+00.90|-03.35", "distance": 0.3860291190882056, "com": {"x": -0.4387167692184448, "y": 0.9609774351119995, "z": -3.347060203552246}}, {"text": "Toaster", "semantic_id": "Toaster|-00.18|+00.90|-02.76", "distance": 0.32551581694460907, "com": {"x": -0.19870756566524506, "y": 0.9931158423423767, "z": -2.76408052444458}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/24/rgb_0.png", "image_2": "FloorPlan23/24/rgb_1.png"} diff --git a/train/FloorPlan23/24/rgb_0.png b/train/FloorPlan23/24/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..973eefd2dd908d694fceb734bb2a1ae74f25b6f5 --- /dev/null +++ b/train/FloorPlan23/24/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47d522d0236c7734333f4446ec4e9879910fc35ff0a2d7839034872cda648988 +size 757625 diff --git a/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png b/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png new file mode 100644 index 0000000000000000000000000000000000000000..0a5fc58ff4cf3492451eaece27a34f49e9916c31 --- /dev/null +++ b/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6f5478b944aa0cf7f838dbf3d7a0d5a32490d3ef36077bf8638dfd859ff73a4 +size 638809 diff --git a/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png b/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png new file mode 100644 index 0000000000000000000000000000000000000000..525b736f74b00a897aa74c0d61d344300bd3e2f8 --- /dev/null +++ b/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adffe352e0fb621c2e3b8418be373b8099fbe350e91299b2e20b21c6dfbcdde3 +size 667207 diff --git a/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png b/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png new file mode 100644 index 0000000000000000000000000000000000000000..edf5e1f90534e813e6bd2b2b8f5fd3ef535cfa1f --- /dev/null +++ b/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:511de5f942f5451fa102929edc411ea1321019fde6dd33669ecb935205244bf7 +size 659517 diff --git a/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png b/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png new file mode 100644 index 0000000000000000000000000000000000000000..021d79fa9d9b2485da55d5aa1e5e8f86938970bc --- /dev/null +++ b/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3fc14ddea0d3dd81171eec7946fc8b1ad8bf6715cdd9fa3f935bc0b30c38fd72 +size 634225 diff --git a/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png b/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png new file mode 100644 index 0000000000000000000000000000000000000000..412e137673350b7432639e6ebce72755348a5346 --- /dev/null +++ b/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e77467ed40ffa364e98b36511537cef16f0402a6564f8f166d97cdee669bb4de +size 663858 diff --git a/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png b/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png new file mode 100644 index 0000000000000000000000000000000000000000..72b66e139ac7422c692207d3fb73bf9fa8652b18 --- /dev/null +++ b/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5014e07e0bd77ae13da737a6cd98da689b992cd66cfcc966ba612095a79275b2 +size 660917 diff --git a/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png b/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png new file mode 100644 index 0000000000000000000000000000000000000000..b137756247503f4a0eb0e50ee7a3de7ab1cda729 --- /dev/null +++ b/train/FloorPlan23/24/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce2013e0c131f19217d9c992a325654360739875c3bf87a4fb8894fba0a77ac0 +size 662483 diff --git a/train/FloorPlan23/24/rgb_0_mask_CoffeeMachine|-00.15|+00.90|-03.14.png b/train/FloorPlan23/24/rgb_0_mask_CoffeeMachine|-00.15|+00.90|-03.14.png new file mode 100644 index 0000000000000000000000000000000000000000..51f4dcf3b994ead2c1393311da068926846a20dc --- /dev/null +++ b/train/FloorPlan23/24/rgb_0_mask_CoffeeMachine|-00.15|+00.90|-03.14.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84077007c98d69f37ef4122ca17c69f88cd180ea64a140ea802372e5150e0005 +size 661570 diff --git a/train/FloorPlan23/24/rgb_0_mask_Toaster|-00.18|+00.90|-02.76.png b/train/FloorPlan23/24/rgb_0_mask_Toaster|-00.18|+00.90|-02.76.png new file mode 100644 index 0000000000000000000000000000000000000000..333822df1209b015fd47906429833428e061d4d1 --- /dev/null +++ b/train/FloorPlan23/24/rgb_0_mask_Toaster|-00.18|+00.90|-02.76.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:545f0c858a6f2cc81f314f2114e3a3ee44b88b3ac0f84b43d7f91ed239a5c645 +size 665497 diff --git a/train/FloorPlan23/24/rgb_1.png b/train/FloorPlan23/24/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..7757ecac068618784ff51c8b5dd02666ee64d26b --- /dev/null +++ b/train/FloorPlan23/24/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6eed18b904372a9be65c8b7102dc667cd024a6c377a3c3294621e9337b524cc2 +size 694660 diff --git a/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png b/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png new file mode 100644 index 0000000000000000000000000000000000000000..62d2a8939eef8a5625b4a84f0788d222cdd7e8b3 --- /dev/null +++ b/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03f3d424d4c89ad7a7fb982b9d20e7d55448a84d8ededfe99d267092871f8427 +size 602045 diff --git a/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png b/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png new file mode 100644 index 0000000000000000000000000000000000000000..642d8e9aeed25a8ef35ea63d22a14706193fa13b --- /dev/null +++ b/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08f26ab659274e3db9c712409992fc7e7c04c24798e0a0f5ee80937528937a1d +size 612396 diff --git a/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png b/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png new file mode 100644 index 0000000000000000000000000000000000000000..838fa5efe1e2194df576b38a46000596afd24ece --- /dev/null +++ b/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d762b1c6a9e0faf4bf3286a7360fb8c3caaf1ca32c394d2fd64b3d49566a7cf +size 605400 diff --git a/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png b/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png new file mode 100644 index 0000000000000000000000000000000000000000..bf4a470421200d4325511981f5f732bf8a0f923d --- /dev/null +++ b/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b754b63be188ce70060b9a715effe9e85b51272b0d52c3f843644152752765f9 +size 613129 diff --git a/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png b/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png new file mode 100644 index 0000000000000000000000000000000000000000..cc5ce6e94180d64cf23f2f10faf12b7e73e18038 --- /dev/null +++ b/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0566637261f7cb7e9b0f17729980280befc0adabab79210d88b4dc8fbcb2dbf6 +size 614933 diff --git a/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png b/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png new file mode 100644 index 0000000000000000000000000000000000000000..ea6bd6f21937ceededb0c07388a88417e869d1e6 --- /dev/null +++ b/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9222c117da07e61c7137351d44d9fcdef2a03f58cd7d56eaaa73ef627e0430d8 +size 604576 diff --git a/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png b/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png new file mode 100644 index 0000000000000000000000000000000000000000..bb790fb10bd9f3935879294b84e62d6a58e72ec2 --- /dev/null +++ b/train/FloorPlan23/24/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:154838be25d5876581f42c8e783673bcaf7923b3d3d27ef2674ef59bf3b2d83e +size 614551 diff --git a/train/FloorPlan23/24/rgb_1_mask_CoffeeMachine|-00.15|+00.90|-03.14.png b/train/FloorPlan23/24/rgb_1_mask_CoffeeMachine|-00.15|+00.90|-03.14.png new file mode 100644 index 0000000000000000000000000000000000000000..a9c985050ba6e83b784b4c873321f630b3389c13 --- /dev/null +++ b/train/FloorPlan23/24/rgb_1_mask_CoffeeMachine|-00.15|+00.90|-03.14.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9054ada1e5a8cc5769e1bfb8e7f2b74a04e2af086e944eb5c83b22f112d75d16 +size 615337 diff --git a/train/FloorPlan23/24/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png b/train/FloorPlan23/24/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png new file mode 100644 index 0000000000000000000000000000000000000000..22ec5073e5a126ffb92ebb7b5879efa798b9719b --- /dev/null +++ b/train/FloorPlan23/24/rgb_1_mask_Toaster|-00.18|+00.90|-02.76.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:638e1489617f3ec727a455029ab627351c01ae8fa72ad1129eb8f423dcae054f +size 614933 diff --git a/train/FloorPlan23/24/semantic_0.png b/train/FloorPlan23/24/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6d535a0094e5469d53bb736fbc9180d9a733c2ec Binary files /dev/null and b/train/FloorPlan23/24/semantic_0.png differ diff --git a/train/FloorPlan23/24/semantic_1.png b/train/FloorPlan23/24/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..5a9c738489843dabedc1ad75e80306bce3b3bb41 Binary files /dev/null and b/train/FloorPlan23/24/semantic_1.png differ diff --git a/train/FloorPlan23/25/0.json b/train/FloorPlan23/25/0.json new file mode 100644 index 0000000000000000000000000000000000000000..39d8b8716e98ef942995369baec259d6d05f3b50 --- /dev/null +++ b/train/FloorPlan23/25/0.json @@ -0,0 +1,4079 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.15|-01.69", + "object_info": { + "name": "Shelf_56e7d2ea", + "position": { + "x": -2.432276487350464, + "y": 0.15027305483818054, + "z": -1.6942251920700073 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.5205506086349487, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.15|-01.69", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0256943702697754, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -2.5611023902893066 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.25202104449272156, + "z": -1.6942222118377686 + }, + "size": { + "x": 0.8131651878356934, + "y": 0.20350056886672974, + "z": 1.7337603569030762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "object_info": { + "name": "LightSwitch_5e61d7a6", + "position": { + "x": -4.323999881744385, + "y": 1.319000005722046, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.475703239440918, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -4.280065059661865, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.280065059661865, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.2377760410308838, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.2377760410308838, + -0.033031947910785675 + ] + ], + "center": { + "x": -4.323999881744385, + "y": 1.3201357126235962, + "z": -0.01651597023010254 + }, + "size": { + "x": 0.08786964416503906, + "y": 0.1647193431854248, + "z": 0.03303195536136627 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -3.5999999046325684, + "y": 0.9009992480278015, + "z": -3.299999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 21.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -3.5999999046325684, + "y": 1.5759992599487305, + "z": -3.299999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Cabinet|-00.31|+02.14|-01.54", + "CounterTop|-00.30|+00.95|-02.79", + "Cabinet|-00.31|+02.14|-02.48", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03", + "Sink|-00.35|+00.91|-02.01" + ], + "different_object": [ + "Apple|-02.66|+00.97|-01.55", + "Bowl|-02.75|+00.92|-01.17", + "Shelf|-02.43|+00.15|-01.69", + "Bottle|-02.70|+00.92|-00.88", + "Pencil|-02.22|+00.92|-00.86", + "Pot|-02.24|+00.92|-01.88", + "Cup|-02.44|+00.92|-02.36", + "Pan|-02.17|+00.92|-01.10", + "Chair|-03.26|+00.00|-02.09", + "LightSwitch|-04.32|+01.32|+00.00", + "Tomato|-02.67|+00.98|-02.01", + "Cabinet|-00.58|+00.39|-02.20", + "Pen|-02.33|+00.92|-00.89", + "Knife|-02.27|+00.92|-02.14", + "Chair|-03.24|+00.00|-01.25", + "Lettuce|-02.62|+01.01|-01.73", + "Cabinet|-00.58|+00.39|-01.80", + "WineBottle|-02.44|+00.92|-02.14", + "Plate|-02.12|+00.92|-02.42", + "Mug|-02.59|+00.92|-02.31", + "Shelf|-02.43|+00.52|-01.69", + "DiningTable|-02.43|+00.00|-01.69" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/25/0_depth_npy.npy b/train/FloorPlan23/25/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..485069686b6d69c4a0935c1e575adbf5618609fe --- /dev/null +++ b/train/FloorPlan23/25/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5adc7283d3690ff2ac440f0d162a9d0d6d842c00f5a6f4146ea5b427f2464c9c +size 3145856 diff --git a/train/FloorPlan23/25/0_semantic_sensor_npy.npy b/train/FloorPlan23/25/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0883088338ba651e7b9a11d01d89d54bbafc2d72 --- /dev/null +++ b/train/FloorPlan23/25/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28d211f7108a48389b77c5ca42c150fbd3ff7f8e5f1e9a3a770ae0e16b25f8a5 +size 2359424 diff --git a/train/FloorPlan23/25/1.json b/train/FloorPlan23/25/1.json new file mode 100644 index 0000000000000000000000000000000000000000..215a090cfad8fd2a7cd6a69ac45a4264b1bf175b --- /dev/null +++ b/train/FloorPlan23/25/1.json @@ -0,0 +1,2021 @@ +{ + "object": [ + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Spoon|-00.33|+00.79|-02.12", + "object_info": { + "name": "Spoon_ef4541de", + "position": { + "x": -0.32795315980911255, + "y": 0.7871569991111755, + "z": -2.1250267028808594 + }, + "rotation": { + "x": 0.3525198698043823, + "y": 33.92948532104492, + "z": 0.8351927399635315 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.129457950592041, + "objectType": "Spoon", + "objectId": "Spoon|-00.33|+00.79|-02.12", + "assetId": "Spoon_1", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26713094115257263, + 0.8056613206863403, + -2.0415267944335938 + ], + [ + -0.26713094115257263, + 0.8056613206863403, + -2.2291860580444336 + ], + [ + -0.26713094115257263, + 0.7863336801528931, + -2.0415267944335938 + ], + [ + -0.26713094115257263, + 0.7863336801528931, + -2.2291860580444336 + ], + [ + -0.40064141154289246, + 0.8056613206863403, + -2.0415267944335938 + ], + [ + -0.40064141154289246, + 0.8056613206863403, + -2.2291860580444336 + ], + [ + -0.40064141154289246, + 0.7863336801528931, + -2.0415267944335938 + ], + [ + -0.40064141154289246, + 0.7863336801528931, + -2.2291860580444336 + ] + ], + "center": { + "x": -0.33388617634773254, + "y": 0.7959975004196167, + "z": -2.1353564262390137 + }, + "size": { + "x": 0.13351047039031982, + "y": 0.019327640533447266, + "z": 0.18765926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.2613292932510376, + 0.7864380478858948, + -2.061155319213867 + ], + [ + -0.2956712245941162, + 0.7858347296714783, + -2.038057327270508 + ], + [ + -0.41144806146621704, + 0.7871109247207642, + -2.21016001701355 + ], + [ + -0.3771061301231384, + 0.7877142429351807, + -2.233258008956909 + ], + [ + -0.26149433851242065, + 0.8054919838905334, + -2.0609030723571777 + ], + [ + -0.29583626985549927, + 0.8048886656761169, + -2.0378048419952393 + ], + [ + -0.4116131067276001, + 0.8061648607254028, + -2.2099077701568604 + ], + [ + -0.3772711455821991, + 0.8067681789398193, + -2.2330057621002197 + ] + ] + } + } + }, + { + "objectId": "Fork|-00.30|+00.79|-01.86", + "object_info": { + "name": "Fork_2ddc3e45", + "position": { + "x": -0.29574909806251526, + "y": 0.7884383797645569, + "z": -1.8586688041687012 + }, + "rotation": { + "x": 0.28218215703964233, + "y": -0.001193281845189631, + "z": 359.9201965332031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.0284688472747803, + "objectType": "Fork", + "objectId": "Fork|-00.30|+00.79|-01.86", + "assetId": "Fork_1", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2790178656578064, + 0.8070268630981445, + -1.7569708824157715 + ], + [ + -0.2790178656578064, + 0.8070268630981445, + -2.004701614379883 + ], + [ + -0.2790178656578064, + 0.7866312265396118, + -1.7569708824157715 + ], + [ + -0.2790178656578064, + 0.7866312265396118, + -2.004701614379883 + ], + [ + -0.3124590516090393, + 0.8070268630981445, + -1.7569708824157715 + ], + [ + -0.3124590516090393, + 0.8070268630981445, + -2.004701614379883 + ], + [ + -0.3124590516090393, + 0.7866312265396118, + -1.7569708824157715 + ], + [ + -0.3124590516090393, + 0.7866312265396118, + -2.004701614379883 + ] + ], + "center": { + "x": -0.29573845863342285, + "y": 0.7968290448188782, + "z": -1.8808362483978271 + }, + "size": { + "x": 0.03344118595123291, + "y": 0.020395636558532715, + "z": 0.24773073196411133 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.2790479063987732, + 0.785405158996582, + -1.7570518255233765 + ], + [ + -0.3124615550041199, + 0.7854517102241516, + -1.7570523023605347 + ], + [ + -0.3124563694000244, + 0.78667151927948, + -2.004727363586426 + ], + [ + -0.27904272079467773, + 0.7866249680519104, + -2.0047268867492676 + ], + [ + -0.2790178656578064, + 0.806972861289978, + -1.7569456100463867 + ], + [ + -0.3124315142631531, + 0.8070194125175476, + -1.756946086883545 + ], + [ + -0.31242635846138, + 0.808239221572876, + -2.0046212673187256 + ], + [ + -0.2790127098560333, + 0.8081926703453064, + -2.0046207904815674 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.100000023841858, + "y": 0.9009994864463806, + "z": -1.8000000715255737 + }, + "agent_rotation": { + "x": -0.0, + "y": 86.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.100000023841858, + "y": 1.5759994983673096, + "z": -1.8000000715255737 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Cabinet|-00.31|+02.14|-01.54", + "CounterTop|-00.30|+00.95|-02.79", + "Cabinet|-00.31|+02.14|-02.48", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03", + "Sink|-00.35|+00.91|-02.01" + ], + "different_object": [ + "Fork|-00.30|+00.79|-01.86", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Spoon|-00.33|+00.79|-02.12", + "Sink|-00.35|+00.91|-02.01|SinkBasin", + "Spatula|-00.30|+00.91|-02.54" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/25/1_depth_npy.npy b/train/FloorPlan23/25/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0b230da79001929f5d6076b493ecdd0f50c912a9 --- /dev/null +++ b/train/FloorPlan23/25/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c4cfa6caad9369e290ab8edc94ca61614c9e8a63a094fb1d01109a01a880bfa +size 3145856 diff --git a/train/FloorPlan23/25/1_semantic_sensor_npy.npy b/train/FloorPlan23/25/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9a5451115ccee45fb674df3933bbb1e3247b60af --- /dev/null +++ b/train/FloorPlan23/25/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b10c89c47eb4997f0a99c68f2560cf6b3e17a7fcb188536273ba0bd3c82e9448 +size 2359424 diff --git a/train/FloorPlan23/25/depth_0.png b/train/FloorPlan23/25/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2482f9cee61fe95d9a24ad62278c3a0bca38011a Binary files /dev/null and b/train/FloorPlan23/25/depth_0.png differ diff --git a/train/FloorPlan23/25/depth_1.png b/train/FloorPlan23/25/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..701eab27151d511901e2fd53eeae83b1a8d532e4 Binary files /dev/null and b/train/FloorPlan23/25/depth_1.png differ diff --git a/train/FloorPlan23/25/mask_questions.jsonl b/train/FloorPlan23/25/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..389d2b7d7cc6e15b2ab46e8d55cdc579c79a43dd --- /dev/null +++ b/train/FloorPlan23/25/mask_questions.jsonl @@ -0,0 +1,6 @@ +{"id": 15428, "folder_dir": "FloorPlan23/25", "pair_name": "0-1:Fridge|-00.33|+00.00|-00.77", "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. Bowl\nC. Cabinet\nD. Apple", "answer": "A", "object_name": "Fridge", "image_1": "FloorPlan23/25/rgb_0.png", "image_2": "FloorPlan23/25/rgb_1.png", "mask_image": "FloorPlan23/25/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png", "options": ["Fridge", "Bowl", "Cabinet", "Apple"]} +{"id": 15429, "folder_dir": "FloorPlan23/25", "pair_name": "0-1:Cabinet|-00.31|+02.14|-01.54", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Pencil\nC. Fridge\nD. Apple", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/25/rgb_0.png", "image_2": "FloorPlan23/25/rgb_1.png", "mask_image": "FloorPlan23/25/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png", "options": ["Cabinet", "Pencil", "Fridge", "Apple"]} +{"id": 15430, "folder_dir": "FloorPlan23/25", "pair_name": "0-1:Cabinet|-00.31|+02.14|-02.48", "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. Fridge\nB. Shelf\nC. DiningTable\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/25/rgb_0.png", "image_2": "FloorPlan23/25/rgb_1.png", "mask_image": "FloorPlan23/25/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png", "options": ["Fridge", "Shelf", "DiningTable", "Cabinet"]} +{"id": 15431, "folder_dir": "FloorPlan23/25", "pair_name": "0-1:Faucet|-00.08|+00.90|-02.03", "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. Pan\nB. Knife\nC. Fridge\nD. Faucet", "answer": "D", "object_name": "Faucet", "image_1": "FloorPlan23/25/rgb_0.png", "image_2": "FloorPlan23/25/rgb_1.png", "mask_image": "FloorPlan23/25/rgb_1_mask_Faucet|-00.08|+00.90|-02.03.png", "options": ["Pan", "Knife", "Fridge", "Faucet"]} +{"id": 15432, "folder_dir": "FloorPlan23/25", "pair_name": "1-0:Cabinet|-00.31|+02.14|-01.54", "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. CoffeeMachine\nB. Toaster\nC. Fridge\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/25/rgb_1.png", "image_2": "FloorPlan23/25/rgb_0.png", "mask_image": "FloorPlan23/25/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png", "options": ["CoffeeMachine", "Toaster", "Fridge", "Cabinet"]} +{"id": 15433, "folder_dir": "FloorPlan23/25", "pair_name": "1-0:Cabinet|-00.31|+02.14|-02.48", "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. Cabinet\nB. Spoon\nC. Fridge\nD. Spatula", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/25/rgb_1.png", "image_2": "FloorPlan23/25/rgb_0.png", "mask_image": "FloorPlan23/25/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png", "options": ["Cabinet", "Spoon", "Fridge", "Spatula"]} diff --git a/train/FloorPlan23/25/questions_distance.jsonl b/train/FloorPlan23/25/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6b4b286c6d7ee6be9bcf6729b65b642ff6a77b1 --- /dev/null +++ b/train/FloorPlan23/25/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4595, "folder_dir": "FloorPlan23/25", "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. Faucet\nB. DishSponge\nC. Fork\nD. Other\n", "answer": "B", "src_object": "Fridge", "target_object": "DishSponge", "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": "Faucet", "semantic_id": "Faucet|-00.08|+00.90|-02.03", "distance": 1.2748797529870763, "com": {"x": -0.1677103042602539, "y": 0.9829331636428833, "z": -2.0341999530792236}}, {"text": "DishSponge", "semantic_id": "DishSponge|-00.07|+00.91|-01.69", "distance": 0.9572340251047243, "com": {"x": -0.07007645070552826, "y": 0.9169249534606934, "z": -1.6864699125289917}}, {"text": "Fork", "semantic_id": "Fork|-00.30|+00.79|-01.86", "distance": 1.1317815004343368, "com": {"x": -0.29573845863342285, "y": 0.7968290448188782, "z": -1.8808362483978271}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/25/rgb_0.png", "image_2": "FloorPlan23/25/rgb_1.png"} +{"id": 4596, "folder_dir": "FloorPlan23/25", "query": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Spatula\nB. CoffeeMachine\nC. Toaster\nD. Other\n", "answer": "C", "src_object": "CounterTop", "target_object": "Toaster", "question": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Spatula", "semantic_id": "Spatula|-00.30|+00.91|-02.54", "distance": 0.46486132576235256, "com": {"x": -0.37103843688964844, "y": 0.9125346541404724, "z": -2.504775047302246}}, {"text": "CoffeeMachine", "semantic_id": "CoffeeMachine|-00.15|+00.90|-03.14", "distance": 0.33693807644203705, "com": {"x": -0.2524435818195343, "y": 1.1250267028808594, "z": -3.143627166748047}}, {"text": "Toaster", "semantic_id": "Toaster|-00.18|+00.90|-02.76", "distance": 0.32551581694460907, "com": {"x": -0.19870756566524506, "y": 0.9931158423423767, "z": -2.76408052444458}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/25/rgb_0.png", "image_2": "FloorPlan23/25/rgb_1.png"} diff --git a/train/FloorPlan23/25/rgb_0.png b/train/FloorPlan23/25/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..46dd4bbdf06e8c4c8a6448d8249e0b7d8d9db831 --- /dev/null +++ b/train/FloorPlan23/25/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:584b4f10cde80cda8d4b1b25aca63f15a2605eff43269c0450b90c3e561bb1ef +size 821551 diff --git a/train/FloorPlan23/25/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png b/train/FloorPlan23/25/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png new file mode 100644 index 0000000000000000000000000000000000000000..28f11c0ff19a14440cf0327607280d48dccca481 --- /dev/null +++ b/train/FloorPlan23/25/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74c19d8f8205167709e649b385c56c711ba60781a6e1d5e0e3c7f47a7274fd89 +size 717446 diff --git a/train/FloorPlan23/25/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png b/train/FloorPlan23/25/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png new file mode 100644 index 0000000000000000000000000000000000000000..7ae6f202823af3a21fb3f304cecf1fac390565d3 --- /dev/null +++ b/train/FloorPlan23/25/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cadafa5825f2a242a5587ef1168037a1079a0b09907b09619a8a27751fc70ee0 +size 713487 diff --git a/train/FloorPlan23/25/rgb_1.png b/train/FloorPlan23/25/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..06a325962a7ca122a38535bae902a85839172038 --- /dev/null +++ b/train/FloorPlan23/25/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cbfeddfa3141db8017878cf2fc02be21d76eda7d21523ca55f161ab7b6a6d5f +size 618446 diff --git a/train/FloorPlan23/25/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png b/train/FloorPlan23/25/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png new file mode 100644 index 0000000000000000000000000000000000000000..51e7b7c28957371ef1361c2daf7be6c0ca761632 --- /dev/null +++ b/train/FloorPlan23/25/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe8dc1c621344080ad990ed6c6f4640994671f6008167acb699b0714c602faec +size 515753 diff --git a/train/FloorPlan23/25/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png b/train/FloorPlan23/25/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png new file mode 100644 index 0000000000000000000000000000000000000000..373d089792c2d73361fd6227dfc6b8435a75579c --- /dev/null +++ b/train/FloorPlan23/25/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5a776049b73ba2175354a80216f58ea6ea13b1b45cd57eb213ece1471b56069 +size 526447 diff --git a/train/FloorPlan23/25/rgb_1_mask_Faucet|-00.08|+00.90|-02.03.png b/train/FloorPlan23/25/rgb_1_mask_Faucet|-00.08|+00.90|-02.03.png new file mode 100644 index 0000000000000000000000000000000000000000..73a5e8ca00559617149bc59aec4dd06875c84ab8 --- /dev/null +++ b/train/FloorPlan23/25/rgb_1_mask_Faucet|-00.08|+00.90|-02.03.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba472f0125dc74ac4b4ab2f68c4b4b9f0590e93fa78101f2e605fc5ed8bd088e +size 541984 diff --git a/train/FloorPlan23/25/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png b/train/FloorPlan23/25/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png new file mode 100644 index 0000000000000000000000000000000000000000..c8d2a6832e7e0da6fab624416d9bea5692e67b57 --- /dev/null +++ b/train/FloorPlan23/25/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc75a76a3c820512e492572deba13c08e1e2d9fca9abb4eba5eb6eb0f2e27950 +size 356399 diff --git a/train/FloorPlan23/25/semantic_0.png b/train/FloorPlan23/25/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a12f808a0affb59f80b4210e1b7e746ca366c80c Binary files /dev/null and b/train/FloorPlan23/25/semantic_0.png differ diff --git a/train/FloorPlan23/25/semantic_1.png b/train/FloorPlan23/25/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..3af23ca53dca8fb5c5aec3fc144d767957cb158b Binary files /dev/null and b/train/FloorPlan23/25/semantic_1.png differ diff --git a/train/FloorPlan23/28/0.json b/train/FloorPlan23/28/0.json new file mode 100644 index 0000000000000000000000000000000000000000..dfa32af3b5e3feacad96bdfb0eb982181e477ccf --- /dev/null +++ b/train/FloorPlan23/28/0.json @@ -0,0 +1,2773 @@ +{ + "object": [ + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "object_info": { + "name": "Cabinet_b8c26787", + "position": { + "x": -0.8778074383735657, + "y": 0.3888453543186188, + "z": -3.422300100326538 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.647717237472534, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6206655502319336, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.739914894104004 + ] + ], + "center": { + "x": -0.749236524105072, + "y": 0.3888453245162964, + "z": -3.5777101516723633 + }, + "size": { + "x": 0.25714194774627686, + "y": 0.6573984622955322, + "z": 0.32440948486328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.1999999284744263, + "y": 0.9009994864463806, + "z": -2.0999999046325684 + }, + "agent_rotation": { + "x": -0.0, + "y": 187.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.1999999284744263, + "y": 1.5759994983673096, + "z": -2.0999999046325684 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "StoveBurner|-01.52|+00.93|-03.75", + "Window|-02.50|+01.78|-04.19", + "Blinds|-02.54|+02.70|-03.96", + "Cabinet|-01.76|+02.14|-03.69", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.13|+00.93|-03.50", + "StoveBurner|-01.52|+00.93|-03.50", + "StoveBurner|-01.13|+00.93|-03.75", + "GarbageCan|-01.94|00.00|-03.76", + "Cabinet|-00.88|+02.14|-03.69" + ], + "different_object": [ + "Drawer|-00.75|+00.78|-03.55", + "CoffeeMachine|-00.15|+00.90|-03.14", + "ButterKnife|-00.31|+00.91|-03.44", + "CounterTop|-00.30|+00.95|-02.79", + "Cabinet|-00.33|+01.92|-03.39", + "SaltShaker|-00.83|+00.90|-03.77", + "Cabinet|-00.30|+01.92|-02.50", + "Drawer|-00.45|+00.78|-03.27", + "Bread|-00.41|+00.95|-03.63", + "PepperShaker|-00.44|+00.90|-03.35", + "Cabinet|-00.58|+00.39|-03.40", + "Cabinet|-00.88|+00.39|-03.42" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/28/0_depth_npy.npy b/train/FloorPlan23/28/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..74166e8c1f5dcefdbeb759a219c8aae722fb58aa --- /dev/null +++ b/train/FloorPlan23/28/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:289582aab57bb7025296081fe690deb9f1065b9e3835f65c8d692fb79634a3ef +size 3145856 diff --git a/train/FloorPlan23/28/0_semantic_sensor_npy.npy b/train/FloorPlan23/28/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b412bc81516efbc443fc678c9fc246e8b01e5d6e --- /dev/null +++ b/train/FloorPlan23/28/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84ebc0a1d48f696d33db7884c870d082a71926bb552e5500d8c04e14b280cb98 +size 2359424 diff --git a/train/FloorPlan23/28/1.json b/train/FloorPlan23/28/1.json new file mode 100644 index 0000000000000000000000000000000000000000..512bc6ca615ca14b196728df997a026ffc284629 --- /dev/null +++ b/train/FloorPlan23/28/1.json @@ -0,0 +1,3058 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -1.5, + "y": 0.9009994864463806, + "z": -1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 221.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.5, + "y": 1.5759994983673096, + "z": -1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "StoveBurner|-01.52|+00.93|-03.75", + "Window|-02.50|+01.78|-04.19", + "Blinds|-02.54|+02.70|-03.96", + "Cabinet|-01.76|+02.14|-03.69", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.13|+00.93|-03.50", + "StoveBurner|-01.52|+00.93|-03.50", + "StoveBurner|-01.13|+00.93|-03.75", + "GarbageCan|-01.94|00.00|-03.76", + "Cabinet|-00.88|+02.14|-03.69" + ], + "different_object": [ + "Knife|-02.27|+00.92|-02.14", + "Apple|-02.66|+00.97|-01.55", + "Pot|-02.24|+00.92|-01.88", + "Plate|-02.12|+00.92|-02.42", + "Mug|-02.59|+00.92|-02.31", + "Cup|-02.44|+00.92|-02.36", + "Shelf|-02.43|+00.52|-01.69", + "DiningTable|-02.43|+00.00|-01.69", + "Lettuce|-02.62|+01.01|-01.73", + "Chair|-03.26|+00.00|-02.09", + "WineBottle|-02.44|+00.92|-02.14", + "Tomato|-02.67|+00.98|-02.01" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/28/1_depth_npy.npy b/train/FloorPlan23/28/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6c21b18b2c994a15eccfd3060a71ef29ee85708a --- /dev/null +++ b/train/FloorPlan23/28/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebc51083a304ec26fc4a9cf67ba05fd04b58f9593eccd0f42d03408a0ade2504 +size 3145856 diff --git a/train/FloorPlan23/28/1_semantic_sensor_npy.npy b/train/FloorPlan23/28/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5bfcda3142eb4ceb7ad63f49737cae6fc01c3862 --- /dev/null +++ b/train/FloorPlan23/28/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c275dcac30557d1e03d5de7846027b98aec9f12922011310150b0638dfc09832 +size 2359424 diff --git a/train/FloorPlan23/28/depth_0.png b/train/FloorPlan23/28/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e58652bf1850032d2527529c9e708730b4d41417 Binary files /dev/null and b/train/FloorPlan23/28/depth_0.png differ diff --git a/train/FloorPlan23/28/depth_1.png b/train/FloorPlan23/28/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..5f0338ff7135465665067252f61a66cab37e4562 Binary files /dev/null and b/train/FloorPlan23/28/depth_1.png differ diff --git a/train/FloorPlan23/28/mask_questions.jsonl b/train/FloorPlan23/28/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..539cea1eba6e0ac3b1a1e11589eba7d04409af4e --- /dev/null +++ b/train/FloorPlan23/28/mask_questions.jsonl @@ -0,0 +1,10 @@ +{"id": 15548, "folder_dir": "FloorPlan23/28", "pair_name": "0-1:Blinds|-02.54|+02.70|-03.96", "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. Blinds\nB. StoveBurner\nC. SaltShaker\nD. Cabinet", "answer": "A", "object_name": "Blinds", "image_1": "FloorPlan23/28/rgb_0.png", "image_2": "FloorPlan23/28/rgb_1.png", "mask_image": "FloorPlan23/28/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png", "options": ["Blinds", "StoveBurner", "SaltShaker", "Cabinet"]} +{"id": 15549, "folder_dir": "FloorPlan23/28", "pair_name": "0-1:Cabinet|-01.76|+02.14|-03.69", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. SaltShaker\nB. CounterTop\nC. Cabinet\nD. StoveBurner", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/28/rgb_0.png", "image_2": "FloorPlan23/28/rgb_1.png", "mask_image": "FloorPlan23/28/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png", "options": ["SaltShaker", "CounterTop", "Cabinet", "StoveBurner"]} +{"id": 15550, "folder_dir": "FloorPlan23/28", "pair_name": "0-1:Microwave|-01.32|+01.52|-03.80", "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. StoveBurner\nB. Cabinet\nC. Microwave\nD. SaltShaker", "answer": "C", "object_name": "Microwave", "image_1": "FloorPlan23/28/rgb_0.png", "image_2": "FloorPlan23/28/rgb_1.png", "mask_image": "FloorPlan23/28/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png", "options": ["StoveBurner", "Cabinet", "Microwave", "SaltShaker"]} +{"id": 15551, "folder_dir": "FloorPlan23/28", "pair_name": "0-1:GarbageCan|-01.94|00.00|-03.76", "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. StoveBurner\nB. Cabinet\nC. GarbageCan\nD. Drawer", "answer": "C", "object_name": "GarbageCan", "image_1": "FloorPlan23/28/rgb_0.png", "image_2": "FloorPlan23/28/rgb_1.png", "mask_image": "FloorPlan23/28/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png", "options": ["StoveBurner", "Cabinet", "GarbageCan", "Drawer"]} +{"id": 15552, "folder_dir": "FloorPlan23/28", "pair_name": "0-1:Cabinet|-00.88|+02.14|-03.69", "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. ButterKnife\nB. StoveBurner\nC. Cabinet\nD. CounterTop", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/28/rgb_0.png", "image_2": "FloorPlan23/28/rgb_1.png", "mask_image": "FloorPlan23/28/rgb_1_mask_Cabinet|-00.88|+02.14|-03.69.png", "options": ["ButterKnife", "StoveBurner", "Cabinet", "CounterTop"]} +{"id": 15553, "folder_dir": "FloorPlan23/28", "pair_name": "1-0:Blinds|-02.54|+02.70|-03.96", "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. StoveBurner\nB. Lettuce\nC. Pot\nD. Blinds", "answer": "D", "object_name": "Blinds", "image_1": "FloorPlan23/28/rgb_1.png", "image_2": "FloorPlan23/28/rgb_0.png", "mask_image": "FloorPlan23/28/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png", "options": ["StoveBurner", "Lettuce", "Pot", "Blinds"]} +{"id": 15554, "folder_dir": "FloorPlan23/28", "pair_name": "1-0:Cabinet|-01.76|+02.14|-03.69", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Shelf\nC. StoveBurner\nD. WineBottle", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/28/rgb_1.png", "image_2": "FloorPlan23/28/rgb_0.png", "mask_image": "FloorPlan23/28/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png", "options": ["Cabinet", "Shelf", "StoveBurner", "WineBottle"]} +{"id": 15555, "folder_dir": "FloorPlan23/28", "pair_name": "1-0:Microwave|-01.32|+01.52|-03.80", "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. StoveBurner\nC. Microwave\nD. Cup", "answer": "C", "object_name": "Microwave", "image_1": "FloorPlan23/28/rgb_1.png", "image_2": "FloorPlan23/28/rgb_0.png", "mask_image": "FloorPlan23/28/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png", "options": ["Chair", "StoveBurner", "Microwave", "Cup"]} +{"id": 15556, "folder_dir": "FloorPlan23/28", "pair_name": "1-0:GarbageCan|-01.94|00.00|-03.76", "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. StoveBurner\nD. DiningTable", "answer": "A", "object_name": "GarbageCan", "image_1": "FloorPlan23/28/rgb_1.png", "image_2": "FloorPlan23/28/rgb_0.png", "mask_image": "FloorPlan23/28/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png", "options": ["GarbageCan", "Chair", "StoveBurner", "DiningTable"]} +{"id": 15557, "folder_dir": "FloorPlan23/28", "pair_name": "1-0:Cabinet|-00.88|+02.14|-03.69", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Cup\nC. DiningTable\nD. StoveBurner", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/28/rgb_1.png", "image_2": "FloorPlan23/28/rgb_0.png", "mask_image": "FloorPlan23/28/rgb_0_mask_Cabinet|-00.88|+02.14|-03.69.png", "options": ["Cabinet", "Cup", "DiningTable", "StoveBurner"]} diff --git a/train/FloorPlan23/28/questions_distance.jsonl b/train/FloorPlan23/28/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..09cf2234c82a718d1ec59f78f642fbcb454cd23a --- /dev/null +++ b/train/FloorPlan23/28/questions_distance.jsonl @@ -0,0 +1,4 @@ +{"id": 4614, "folder_dir": "FloorPlan23/28", "query": "Which of the following objects is closest to Window in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. Blinds\nC. Microwave\nD. Other\n", "answer": "B", "src_object": "Window", "target_object": "Blinds", "question": "Which of the following objects is closest to Window in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "GarbageCan", "semantic_id": "GarbageCan|-01.94|00.00|-03.76", "distance": 1.611971431126743, "com": {"x": -1.9438002109527588, "y": 0.32797741889953613, "z": -3.7633652687072754}}, {"text": "Blinds", "semantic_id": "Blinds|-02.54|+02.70|-03.96", "distance": 0.7805063449843993, "com": {"x": -2.5367586612701416, "y": 2.5410349369049072, "z": -3.9586215019226074}}, {"text": "Microwave", "semantic_id": "Microwave|-01.32|+01.52|-03.80", "distance": 1.2565980034739546, "com": {"x": -1.3173975944519043, "y": 1.716176986694336, "z": -3.7988924980163574}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/28/rgb_0.png", "image_2": "FloorPlan23/28/rgb_1.png"} +{"id": 4615, "folder_dir": "FloorPlan23/28", "query": "Which of the following objects is closest to Blinds 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. Microwave\nB. Window\nC. Cup\nD. Other\n", "answer": "B", "src_object": "Blinds", "target_object": "Window", "question": "Which of the following objects is closest to Blinds 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": "Microwave", "semantic_id": "Microwave|-01.32|+01.52|-03.80", "distance": 1.480792154215634, "com": {"x": -1.3173975944519043, "y": 1.716176986694336, "z": -3.7988924980163574}}, {"text": "Window", "semantic_id": "Window|-02.50|+01.78|-04.19", "distance": 0.7805063449843993, "com": {"x": -2.523797035217285, "y": 1.7829999923706055, "z": -4.144107818603516}}, {"text": "Cup", "semantic_id": "Cup|-02.44|+00.92|-02.36", "distance": 2.2342274976072565, "com": {"x": -2.437039852142334, "y": 0.9824916124343872, "z": -2.360882043838501}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/28/rgb_0.png", "image_2": "FloorPlan23/28/rgb_1.png"} +{"id": 4616, "folder_dir": "FloorPlan23/28", "query": "Which of the following objects is closest to Microwave 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. Bread\nB. SaltShaker\nC. PepperShaker\nD. Other\n", "answer": "B", "src_object": "Microwave", "target_object": "SaltShaker", "question": "Which of the following objects is closest to Microwave 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": "Bread", "semantic_id": "Bread|-00.41|+00.95|-03.63", "distance": 1.1830858456838782, "com": {"x": -0.41624677181243896, "y": 0.9700083136558533, "z": -3.623246192932129}}, {"text": "SaltShaker", "semantic_id": "SaltShaker|-00.83|+00.90|-03.77", "distance": 0.901337922092965, "com": {"x": -0.828997015953064, "y": 0.9593031406402588, "z": -3.7670035362243652}}, {"text": "PepperShaker", "semantic_id": "PepperShaker|-00.44|+00.90|-03.35", "distance": 1.243607163723263, "com": {"x": -0.4387167692184448, "y": 0.9609774351119995, "z": -3.347060203552246}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/28/rgb_0.png", "image_2": "FloorPlan23/28/rgb_1.png"} +{"id": 4617, "folder_dir": "FloorPlan23/28", "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. Microwave\nB. Plate\nC. SaltShaker\nD. Other\n", "answer": "C", "src_object": "GarbageCan", "target_object": "SaltShaker", "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": "Microwave", "semantic_id": "Microwave|-01.32|+01.52|-03.80", "distance": 1.523397670343225, "com": {"x": -1.3173975944519043, "y": 1.716176986694336, "z": -3.7988924980163574}}, {"text": "Plate", "semantic_id": "Plate|-02.12|+00.92|-02.42", "distance": 1.4782665998070361, "com": {"x": -2.1214847564697266, "y": 0.9258545637130737, "z": -2.4231252670288086}}, {"text": "SaltShaker", "semantic_id": "SaltShaker|-00.83|+00.90|-03.77", "distance": 1.281160242711074, "com": {"x": -0.828997015953064, "y": 0.9593031406402588, "z": -3.7670035362243652}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/28/rgb_0.png", "image_2": "FloorPlan23/28/rgb_1.png"} diff --git a/train/FloorPlan23/28/rgb_0.png b/train/FloorPlan23/28/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b2609a2b2ed588d09d68fc0946a23f22e1512533 --- /dev/null +++ b/train/FloorPlan23/28/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77e60b40791c4a06202acc0be35f68268ee0b0d652be80b953714ce720a40791 +size 696930 diff --git a/train/FloorPlan23/28/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png b/train/FloorPlan23/28/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png new file mode 100644 index 0000000000000000000000000000000000000000..ff7b0253df0f83a8dff5c57b6a8a07048e0acdcc --- /dev/null +++ b/train/FloorPlan23/28/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f336b698be5a49612e79c6cb530d893149391257df695951d9a1b38647f5c9e3 +size 607921 diff --git a/train/FloorPlan23/28/rgb_0_mask_Cabinet|-00.88|+02.14|-03.69.png b/train/FloorPlan23/28/rgb_0_mask_Cabinet|-00.88|+02.14|-03.69.png new file mode 100644 index 0000000000000000000000000000000000000000..1f85669493d6d14093b316df84d46666717e38f6 --- /dev/null +++ b/train/FloorPlan23/28/rgb_0_mask_Cabinet|-00.88|+02.14|-03.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5cfe9b4708f4c41222d73a3714f36ddb41a84cefaf05ac1ccf72bb1de38f1f6 +size 610423 diff --git a/train/FloorPlan23/28/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png b/train/FloorPlan23/28/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png new file mode 100644 index 0000000000000000000000000000000000000000..90c2bc6bebdd8590a7366f16245eb2bee06ac679 --- /dev/null +++ b/train/FloorPlan23/28/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b77d0bbecebe5ad368ad81766fbb7dffa8078f00b09a1cee8fdb1b9fbf18b55 +size 607099 diff --git a/train/FloorPlan23/28/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png b/train/FloorPlan23/28/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png new file mode 100644 index 0000000000000000000000000000000000000000..2d6064acc50229f88eb1a5143ba163027c38543e --- /dev/null +++ b/train/FloorPlan23/28/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3eae6ab9cbf0f31f032baab05f0a3e003d3ace3a8bba17f0c1ac270479a6523 +size 610824 diff --git a/train/FloorPlan23/28/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png b/train/FloorPlan23/28/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png new file mode 100644 index 0000000000000000000000000000000000000000..b43436f3c3c580bd8c683c64e7c558f7ac176ec3 --- /dev/null +++ b/train/FloorPlan23/28/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5c3c7c3f33fd950191509daebd398fccc831298f2d07ad73b0c54b281f4f915 +size 597342 diff --git a/train/FloorPlan23/28/rgb_1.png b/train/FloorPlan23/28/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..53c873cf6663cae175f5728bd6277dec0d871287 --- /dev/null +++ b/train/FloorPlan23/28/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46cc36e8924e9f19f0a77fb1498a242ec94f65dab0295214ce628fee7a8a65ea +size 804642 diff --git a/train/FloorPlan23/28/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png b/train/FloorPlan23/28/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png new file mode 100644 index 0000000000000000000000000000000000000000..c1c32a8c2aecf33207f84013319caff9f2fc709c --- /dev/null +++ b/train/FloorPlan23/28/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10240d9e0cb979e0eb69391e6f34eea0426f681680f225a32793394b55a64c00 +size 688444 diff --git a/train/FloorPlan23/28/rgb_1_mask_Cabinet|-00.88|+02.14|-03.69.png b/train/FloorPlan23/28/rgb_1_mask_Cabinet|-00.88|+02.14|-03.69.png new file mode 100644 index 0000000000000000000000000000000000000000..12013fbab86f710132dec3ebba1742d853d840ec --- /dev/null +++ b/train/FloorPlan23/28/rgb_1_mask_Cabinet|-00.88|+02.14|-03.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43a2a58c5e4ca724dc6b04519ec0483627189cbc7ba8b474c9610c775b022575 +size 699126 diff --git a/train/FloorPlan23/28/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png b/train/FloorPlan23/28/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png new file mode 100644 index 0000000000000000000000000000000000000000..07776b3f20dda428d68e6b091e0d962cbb781f3c --- /dev/null +++ b/train/FloorPlan23/28/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d17c4e03b4e3ccabc681408f1f65374998d3f3250959f2bed678c800f7eee6a5 +size 691209 diff --git a/train/FloorPlan23/28/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png b/train/FloorPlan23/28/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png new file mode 100644 index 0000000000000000000000000000000000000000..3b41d77296884cb05fa4a12b22b835ee7f8a916b --- /dev/null +++ b/train/FloorPlan23/28/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d57b71f0c1c943a61007cc9c86c78ec620d460710f32c15a6395a025edfca32 +size 699493 diff --git a/train/FloorPlan23/28/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png b/train/FloorPlan23/28/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png new file mode 100644 index 0000000000000000000000000000000000000000..f8ac2dfa21219202947c251e359cc1d39ba40aef --- /dev/null +++ b/train/FloorPlan23/28/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:291386d3198f172c4f7a59dab6fe3b226339e4d04bf695adcadbaaa7ef22710d +size 680368 diff --git a/train/FloorPlan23/28/semantic_0.png b/train/FloorPlan23/28/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d83504cec28538ca9b0b6b870bc8d37d3552a9ca Binary files /dev/null and b/train/FloorPlan23/28/semantic_0.png differ diff --git a/train/FloorPlan23/28/semantic_1.png b/train/FloorPlan23/28/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a83df3ab68064fc54dbcc57197bc46fdc0b7ae97 Binary files /dev/null and b/train/FloorPlan23/28/semantic_1.png differ diff --git a/train/FloorPlan23/29/0.json b/train/FloorPlan23/29/0.json new file mode 100644 index 0000000000000000000000000000000000000000..7d1c458c787a2b4f75dfde7bb70ff9a4c61a3ae4 --- /dev/null +++ b/train/FloorPlan23/29/0.json @@ -0,0 +1,6262 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Potato|-02.08|+00.95|-01.60", + "object_info": { + "name": "Potato_097cac87", + "position": { + "x": -2.0824663639068604, + "y": 0.9517925977706909, + "z": -1.595628023147583 + }, + "rotation": { + "x": 0.09599222987890244, + "y": 295.7773132324219, + "z": 0.3481499254703522 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": true, + "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": 0.18000000715255737, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.42998206615448, + "objectType": "Potato", + "objectId": "Potato|-02.08|+00.95|-01.60", + "assetId": "Potato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0365054607391357, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.6359621286392212 + ] + ], + "center": { + "x": -2.084045886993408, + "y": 0.9514029026031494, + "z": -1.5954636335372925 + }, + "size": { + "x": 0.09508085250854492, + "y": 0.0678938627243042, + "z": 0.08099699020385742 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.11331844329834, + 0.9176058173179626, + -1.5434285402297974 + ], + [ + -2.1428205966949463, + 0.9171935319900513, + -1.6045199632644653 + ], + [ + -2.0544910430908203, + 0.9173579216003418, + -1.64717698097229 + ], + [ + -2.024988889694214, + 0.9177701473236084, + -1.586085557937622 + ], + [ + -2.113600015640259, + 0.9854477643966675, + -1.5437504053115845 + ], + [ + -2.1431021690368652, + 0.9850355386734009, + -1.6048418283462524 + ], + [ + -2.0547726154327393, + 0.9851998686790466, + -1.6474988460540771 + ], + [ + -2.025270462036133, + 0.985612154006958, + -1.5864073038101196 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -3.5, + "y": 0.9009994268417358, + "z": -2.6000001430511475 + }, + "agent_rotation": { + "x": -0.0, + "y": 85.00000762939453, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -3.5, + "y": 1.5759994983673096, + "z": -2.6000001430511475 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Pen|-02.33|+00.92|-00.89", + "Pencil|-02.22|+00.92|-00.86", + "Pan|-02.17|+00.92|-01.10", + "DiningTable|-02.43|+00.00|-01.69" + ], + "different_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Apple|-02.66|+00.97|-01.55", + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Cabinet|-00.88|+02.14|-03.69", + "Sink|-00.35|+00.91|-02.01", + "StoveBurner|-01.52|+00.93|-03.75", + "Pot|-02.24|+00.92|-01.88", + "Drawer|-00.75|+00.78|-03.55", + "ButterKnife|-00.31|+00.91|-03.44", + "CounterTop|-00.30|+00.95|-02.79", + "SaltShaker|-00.83|+00.90|-03.77", + "Cup|-02.44|+00.92|-02.36", + "Faucet|-00.08|+00.90|-02.03", + "Tomato|-02.67|+00.98|-02.01", + "Cabinet|-00.58|+00.39|-02.20", + "Cabinet|-00.31|+02.14|-01.54", + "Window|-02.50|+01.78|-04.19", + "Knife|-02.27|+00.92|-02.14", + "Cabinet|-01.76|+02.14|-03.69", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.52|+00.93|-03.50", + "Drawer|-00.45|+00.78|-03.27", + "StoveBurner|-01.13|+00.93|-03.75", + "DishSponge|-00.07|+00.91|-01.69", + "GarbageCan|-01.94|00.00|-03.76", + "PepperShaker|-00.44|+00.90|-03.35", + "Lettuce|-02.62|+01.01|-01.73", + "Cabinet|-00.58|+00.39|-01.80", + "WineBottle|-02.44|+00.92|-02.14", + "Toaster|-00.18|+00.90|-02.76", + "Plate|-02.12|+00.92|-02.42", + "Cabinet|-00.31|+02.14|-02.48", + "Mug|-02.59|+00.92|-02.31", + "Potato|-02.08|+00.95|-01.60", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.58|+00.39|-03.40", + "Blinds|-02.54|+02.70|-03.96", + "Spatula|-00.30|+00.91|-02.54" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/29/0_depth_npy.npy b/train/FloorPlan23/29/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3c3bdd19459e8465d211a6d3f4110ea997f5b526 --- /dev/null +++ b/train/FloorPlan23/29/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b46bfe2e1a94736537b2db6d117d37dfc53d039501961b6530a7398446c9e7b +size 3145856 diff --git a/train/FloorPlan23/29/0_semantic_sensor_npy.npy b/train/FloorPlan23/29/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d311efd78023790a70bbe0ba575651239a214a27 --- /dev/null +++ b/train/FloorPlan23/29/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98534439f68278f0c7d3e9fff96d49d25c7fa0074ad54c891a30f6e146855155 +size 2359424 diff --git a/train/FloorPlan23/29/1.json b/train/FloorPlan23/29/1.json new file mode 100644 index 0000000000000000000000000000000000000000..4eba215bc8737abd23b7edec8aa573904ea64d80 --- /dev/null +++ b/train/FloorPlan23/29/1.json @@ -0,0 +1,1251 @@ +{ + "object": [ + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "object_info": { + "name": "LightSwitch_5e61d7a6", + "position": { + "x": -4.323999881744385, + "y": 1.319000005722046, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.475703239440918, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -4.280065059661865, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.280065059661865, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.2377760410308838, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.2377760410308838, + -0.033031947910785675 + ] + ], + "center": { + "x": -4.323999881744385, + "y": 1.3201357126235962, + "z": -0.01651597023010254 + }, + "size": { + "x": 0.08786964416503906, + "y": 0.1647193431854248, + "z": 0.03303195536136627 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -1.1999999284744263, + "y": 0.9009994864463806, + "z": -1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 323.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.1999999284744263, + "y": 1.5759994983673096, + "z": -1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Pen|-02.33|+00.92|-00.89", + "Pencil|-02.22|+00.92|-00.86", + "Pan|-02.17|+00.92|-01.10", + "DiningTable|-02.43|+00.00|-01.69" + ], + "different_object": [ + "Bottle|-02.70|+00.92|-00.88", + "LightSwitch|-04.32|+01.32|+00.00", + "Chair|-03.24|+00.00|-01.25", + "Bowl|-02.75|+00.92|-01.17" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/29/1_depth_npy.npy b/train/FloorPlan23/29/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..faa14e68dbd2d7f3a46b06c9210d61a9c47f432f --- /dev/null +++ b/train/FloorPlan23/29/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60f27e25f3c4693a1f1079ed1cb3bc44271312489608e58dcbf9f9dd4c48fa27 +size 3145856 diff --git a/train/FloorPlan23/29/1_semantic_sensor_npy.npy b/train/FloorPlan23/29/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..eabff3c35fc639f9fd1ea0296628e2cb3f9d544c --- /dev/null +++ b/train/FloorPlan23/29/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5777a67aa5097e2999f78c7f0d9eb7e9cc6a4d942735112e2d6bf5502aa08884 +size 2359424 diff --git a/train/FloorPlan23/29/depth_0.png b/train/FloorPlan23/29/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3cdeed2b12aa99bbaf73b230af12fdf688d046c2 Binary files /dev/null and b/train/FloorPlan23/29/depth_0.png differ diff --git a/train/FloorPlan23/29/depth_1.png b/train/FloorPlan23/29/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9339c89f42abdf16b092642d7e606a426d7735f8 Binary files /dev/null and b/train/FloorPlan23/29/depth_1.png differ diff --git a/train/FloorPlan23/29/mask_questions.jsonl b/train/FloorPlan23/29/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c653added50b362bb65b07c8e7ab30ec3b6e8ff5 --- /dev/null +++ b/train/FloorPlan23/29/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 15374, "folder_dir": "FloorPlan23/29", "pair_name": "0-1:Pan|-02.17|+00.92|-01.10", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Pan\nC. SoapBottle\nD. Pen", "answer": "B", "object_name": "Pan", "image_1": "FloorPlan23/29/rgb_0.png", "image_2": "FloorPlan23/29/rgb_1.png", "mask_image": "FloorPlan23/29/rgb_1_mask_Pan|-02.17|+00.92|-01.10.png", "options": ["Cabinet", "Pan", "SoapBottle", "Pen"]} +{"id": 15375, "folder_dir": "FloorPlan23/29", "pair_name": "1-0:Pan|-02.17|+00.92|-01.10", "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. Bowl\nB. Bottle\nC. Pen\nD. Pan", "answer": "D", "object_name": "Pan", "image_1": "FloorPlan23/29/rgb_1.png", "image_2": "FloorPlan23/29/rgb_0.png", "mask_image": "FloorPlan23/29/rgb_0_mask_Pan|-02.17|+00.92|-01.10.png", "options": ["Bowl", "Bottle", "Pen", "Pan"]} diff --git a/train/FloorPlan23/29/questions_distance.jsonl b/train/FloorPlan23/29/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c24841961c2cce1056897ec464b32def60bf0618 --- /dev/null +++ b/train/FloorPlan23/29/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 4580, "folder_dir": "FloorPlan23/29", "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. Apple\nB. Pot\nC. Lettuce\nD. Other\n", "answer": "C", "src_object": "DiningTable", "target_object": "Lettuce", "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": "Apple", "semantic_id": "Apple|-02.66|+00.97|-01.55", "distance": 0.58665562724534, "com": {"x": -2.66848087310791, "y": 0.9702385067939758, "z": -1.5395169258117676}}, {"text": "Pot", "semantic_id": "Pot|-02.24|+00.92|-01.88", "distance": 0.5858293435623843, "com": {"x": -2.238513231277466, "y": 0.9807913899421692, "z": -1.8819752931594849}}, {"text": "Lettuce", "semantic_id": "Lettuce|-02.62|+01.01|-01.73", "distance": 0.5853301333959219, "com": {"x": -2.620821714401245, "y": 1.0096420049667358, "z": -1.7274253368377686}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/29/rgb_0.png", "image_2": "FloorPlan23/29/rgb_1.png"} diff --git a/train/FloorPlan23/29/rgb_0.png b/train/FloorPlan23/29/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ec5de36698c2f5d18e76245dd9f0d867cc5755e3 --- /dev/null +++ b/train/FloorPlan23/29/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23871d8199e17e6471e3465cacb423da374b569fe8aa1f9d942dc5e27ff239bd +size 807650 diff --git a/train/FloorPlan23/29/rgb_0_mask_Pan|-02.17|+00.92|-01.10.png b/train/FloorPlan23/29/rgb_0_mask_Pan|-02.17|+00.92|-01.10.png new file mode 100644 index 0000000000000000000000000000000000000000..27b7ece0972446cf5bb3a3a1a5b099fb8b9b886f --- /dev/null +++ b/train/FloorPlan23/29/rgb_0_mask_Pan|-02.17|+00.92|-01.10.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8dba49ca1dda5a58dae10fccc69166a48f60c2058c907e3f43fe6f1ecda1f45d +size 707684 diff --git a/train/FloorPlan23/29/rgb_1.png b/train/FloorPlan23/29/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..cd51cc5497639407b2aedb780cd789fdd409a31b --- /dev/null +++ b/train/FloorPlan23/29/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b68b875e2d82e9d8aa43561a3707c4d908428d83e749974eaf4118eab612257 +size 836309 diff --git a/train/FloorPlan23/29/rgb_1_mask_Pan|-02.17|+00.92|-01.10.png b/train/FloorPlan23/29/rgb_1_mask_Pan|-02.17|+00.92|-01.10.png new file mode 100644 index 0000000000000000000000000000000000000000..99e691da23a482de110a69611a88a74415c77bae --- /dev/null +++ b/train/FloorPlan23/29/rgb_1_mask_Pan|-02.17|+00.92|-01.10.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:252cc8dfb9fa19888d8365ded2aea9091eea234ee130e0fac41c0de50127b16a +size 705064 diff --git a/train/FloorPlan23/29/semantic_0.png b/train/FloorPlan23/29/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..f70a99b1bd6a3c899faa66046be77ed67eb97934 Binary files /dev/null and b/train/FloorPlan23/29/semantic_0.png differ diff --git a/train/FloorPlan23/29/semantic_1.png b/train/FloorPlan23/29/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bcda97617bc4a257bd1ca856195de77802665d84 Binary files /dev/null and b/train/FloorPlan23/29/semantic_1.png differ diff --git a/train/FloorPlan23/3/0_depth_npy.npy b/train/FloorPlan23/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..85a7ca029b5a3cdd205e7b5aaf68b4cba644d097 --- /dev/null +++ b/train/FloorPlan23/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ada52bf6135c031c62eeab8bdcea35085c71c2fc9d2c425e21f7bf5d4ec46e2f +size 3145856 diff --git a/train/FloorPlan23/3/1.json b/train/FloorPlan23/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..ac6492ed99b75c23818f80e21110e3442160490f --- /dev/null +++ b/train/FloorPlan23/3/1.json @@ -0,0 +1,4653 @@ +{ + "object": [ + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "object_info": { + "name": "Cabinet_b8c26787", + "position": { + "x": -0.8778074383735657, + "y": 0.3888453543186188, + "z": -3.422300100326538 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.647717237472534, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6206655502319336, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.739914894104004 + ] + ], + "center": { + "x": -0.749236524105072, + "y": 0.3888453245162964, + "z": -3.5777101516723633 + }, + "size": { + "x": 0.25714194774627686, + "y": 0.6573984622955322, + "z": 0.32440948486328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Spoon|-00.33|+00.79|-02.12", + "object_info": { + "name": "Spoon_ef4541de", + "position": { + "x": -0.32795315980911255, + "y": 0.7871569991111755, + "z": -2.1250267028808594 + }, + "rotation": { + "x": 0.3525198698043823, + "y": 33.92948532104492, + "z": 0.8351927399635315 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.129457950592041, + "objectType": "Spoon", + "objectId": "Spoon|-00.33|+00.79|-02.12", + "assetId": "Spoon_1", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26713094115257263, + 0.8056613206863403, + -2.0415267944335938 + ], + [ + -0.26713094115257263, + 0.8056613206863403, + -2.2291860580444336 + ], + [ + -0.26713094115257263, + 0.7863336801528931, + -2.0415267944335938 + ], + [ + -0.26713094115257263, + 0.7863336801528931, + -2.2291860580444336 + ], + [ + -0.40064141154289246, + 0.8056613206863403, + -2.0415267944335938 + ], + [ + -0.40064141154289246, + 0.8056613206863403, + -2.2291860580444336 + ], + [ + -0.40064141154289246, + 0.7863336801528931, + -2.0415267944335938 + ], + [ + -0.40064141154289246, + 0.7863336801528931, + -2.2291860580444336 + ] + ], + "center": { + "x": -0.33388617634773254, + "y": 0.7959975004196167, + "z": -2.1353564262390137 + }, + "size": { + "x": 0.13351047039031982, + "y": 0.019327640533447266, + "z": 0.18765926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.2613292932510376, + 0.7864380478858948, + -2.061155319213867 + ], + [ + -0.2956712245941162, + 0.7858347296714783, + -2.038057327270508 + ], + [ + -0.41144806146621704, + 0.7871109247207642, + -2.21016001701355 + ], + [ + -0.3771061301231384, + 0.7877142429351807, + -2.233258008956909 + ], + [ + -0.26149433851242065, + 0.8054919838905334, + -2.0609030723571777 + ], + [ + -0.29583626985549927, + 0.8048886656761169, + -2.0378048419952393 + ], + [ + -0.4116131067276001, + 0.8061648607254028, + -2.2099077701568604 + ], + [ + -0.3772711455821991, + 0.8067681789398193, + -2.2330057621002197 + ] + ] + } + } + }, + { + "objectId": "Fork|-00.30|+00.79|-01.86", + "object_info": { + "name": "Fork_2ddc3e45", + "position": { + "x": -0.29574909806251526, + "y": 0.7884383797645569, + "z": -1.8586688041687012 + }, + "rotation": { + "x": 0.28218215703964233, + "y": -0.001193281845189631, + "z": 359.9201965332031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.03999999910593033, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.0284688472747803, + "objectType": "Fork", + "objectId": "Fork|-00.30|+00.79|-01.86", + "assetId": "Fork_1", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2790178656578064, + 0.8070268630981445, + -1.7569708824157715 + ], + [ + -0.2790178656578064, + 0.8070268630981445, + -2.004701614379883 + ], + [ + -0.2790178656578064, + 0.7866312265396118, + -1.7569708824157715 + ], + [ + -0.2790178656578064, + 0.7866312265396118, + -2.004701614379883 + ], + [ + -0.3124590516090393, + 0.8070268630981445, + -1.7569708824157715 + ], + [ + -0.3124590516090393, + 0.8070268630981445, + -2.004701614379883 + ], + [ + -0.3124590516090393, + 0.7866312265396118, + -1.7569708824157715 + ], + [ + -0.3124590516090393, + 0.7866312265396118, + -2.004701614379883 + ] + ], + "center": { + "x": -0.29573845863342285, + "y": 0.7968290448188782, + "z": -1.8808362483978271 + }, + "size": { + "x": 0.03344118595123291, + "y": 0.020395636558532715, + "z": 0.24773073196411133 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.2790479063987732, + 0.785405158996582, + -1.7570518255233765 + ], + [ + -0.3124615550041199, + 0.7854517102241516, + -1.7570523023605347 + ], + [ + -0.3124563694000244, + 0.78667151927948, + -2.004727363586426 + ], + [ + -0.27904272079467773, + 0.7866249680519104, + -2.0047268867492676 + ], + [ + -0.2790178656578064, + 0.806972861289978, + -1.7569456100463867 + ], + [ + -0.3124315142631531, + 0.8070194125175476, + -1.756946086883545 + ], + [ + -0.31242635846138, + 0.808239221572876, + -2.0046212673187256 + ], + [ + -0.2790127098560333, + 0.8081926703453064, + -2.0046207904815674 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.399999976158142, + "y": 0.9009994864463806, + "z": -1.2000000476837158 + }, + "agent_rotation": { + "x": -0.0, + "y": 149.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.399999976158142, + "y": 1.5759994983673096, + "z": -1.2000000476837158 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Sink|-00.35|+00.91|-02.01", + "StoveBurner|-01.52|+00.93|-03.75", + "Drawer|-00.75|+00.78|-03.55", + "ButterKnife|-00.31|+00.91|-03.44", + "CounterTop|-00.30|+00.95|-02.79", + "SaltShaker|-00.83|+00.90|-03.77", + "Faucet|-00.08|+00.90|-02.03", + "Cabinet|-00.58|+00.39|-02.20", + "Cabinet|-00.31|+02.14|-01.54", + "Window|-02.50|+01.78|-04.19", + "Blinds|-02.54|+02.70|-03.96", + "Cabinet|-01.76|+02.14|-03.69", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.52|+00.93|-03.50", + "Drawer|-00.45|+00.78|-03.27", + "StoveBurner|-01.13|+00.93|-03.75", + "DishSponge|-00.07|+00.91|-01.69", + "GarbageCan|-01.94|00.00|-03.76", + "PepperShaker|-00.44|+00.90|-03.35", + "Cabinet|-00.58|+00.39|-01.80", + "Toaster|-00.18|+00.90|-02.76", + "Cabinet|-00.31|+02.14|-02.48", + "DiningTable|-02.43|+00.00|-01.69", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.58|+00.39|-03.40", + "Cabinet|-00.88|+02.14|-03.69", + "Spatula|-00.30|+00.91|-02.54" + ], + "different_object": [ + "Cabinet|-00.88|+00.39|-03.42", + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/3/1_depth_npy.npy b/train/FloorPlan23/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..4d37091ffdc26fa37dfe85dde1a16094905db0c1 --- /dev/null +++ b/train/FloorPlan23/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45eda264db099a20d61558c78346bf01c51dcf96909965d9da7f6d3c52d95c8b +size 3145856 diff --git a/train/FloorPlan23/3/depth_0.png b/train/FloorPlan23/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..0a01d7aca7f9318bfaab14be04510033691284f7 Binary files /dev/null and b/train/FloorPlan23/3/depth_0.png differ diff --git a/train/FloorPlan23/3/mask_questions.jsonl b/train/FloorPlan23/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b953994da06595fbde86ba50364dde3fd224f979 --- /dev/null +++ b/train/FloorPlan23/3/mask_questions.jsonl @@ -0,0 +1,23 @@ +{"id": 15351, "folder_dir": "FloorPlan23/3", "pair_name": "0-1:Cabinet|-00.33|+01.92|-03.39", "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. WineBottle\nB. Cup\nC. StoveBurner\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/3/rgb_0.png", "image_2": "FloorPlan23/3/rgb_1.png", "mask_image": "FloorPlan23/3/rgb_1_mask_Cabinet|-00.33|+01.92|-03.39.png", "options": ["WineBottle", "Cup", "StoveBurner", "Cabinet"]} +{"id": 15352, "folder_dir": "FloorPlan23/3", "pair_name": "0-1:Cabinet|-00.30|+01.92|-02.50", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Fridge\nC. StoveBurner\nD. Cup", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/3/rgb_0.png", "image_2": "FloorPlan23/3/rgb_1.png", "mask_image": "FloorPlan23/3/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png", "options": ["Cabinet", "Fridge", "StoveBurner", "Cup"]} +{"id": 15353, "folder_dir": "FloorPlan23/3", "pair_name": "0-1:Cabinet|-00.58|+00.39|-02.20", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pot\nB. StoveBurner\nC. Cabinet\nD. Plate", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/3/rgb_0.png", "image_2": "FloorPlan23/3/rgb_1.png", "mask_image": "FloorPlan23/3/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png", "options": ["Pot", "StoveBurner", "Cabinet", "Plate"]} +{"id": 15354, "folder_dir": "FloorPlan23/3", "pair_name": "0-1:Cabinet|-00.31|+02.14|-01.54", "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. StoveBurner\nB. Mug\nC. Cabinet\nD. Knife", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/3/rgb_0.png", "image_2": "FloorPlan23/3/rgb_1.png", "mask_image": "FloorPlan23/3/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png", "options": ["StoveBurner", "Mug", "Cabinet", "Knife"]} +{"id": 15355, "folder_dir": "FloorPlan23/3", "pair_name": "0-1:Blinds|-02.54|+02.70|-03.96", "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. StoveBurner\nB. Cup\nC. WineBottle\nD. Blinds", "answer": "D", "object_name": "Blinds", "image_1": "FloorPlan23/3/rgb_0.png", "image_2": "FloorPlan23/3/rgb_1.png", "mask_image": "FloorPlan23/3/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png", "options": ["StoveBurner", "Cup", "WineBottle", "Blinds"]} +{"id": 15356, "folder_dir": "FloorPlan23/3", "pair_name": "0-1:Cabinet|-01.76|+02.14|-03.69", "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. StoveBurner\nB. Knife\nC. Plate\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/3/rgb_0.png", "image_2": "FloorPlan23/3/rgb_1.png", "mask_image": "FloorPlan23/3/rgb_1_mask_Cabinet|-01.76|+02.14|-03.69.png", "options": ["StoveBurner", "Knife", "Plate", "Cabinet"]} +{"id": 15357, "folder_dir": "FloorPlan23/3", "pair_name": "0-1:Microwave|-01.32|+01.52|-03.80", "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. Microwave\nB. Knife\nC. WineBottle\nD. StoveBurner", "answer": "A", "object_name": "Microwave", "image_1": "FloorPlan23/3/rgb_0.png", "image_2": "FloorPlan23/3/rgb_1.png", "mask_image": "FloorPlan23/3/rgb_1_mask_Microwave|-01.32|+01.52|-03.80.png", "options": ["Microwave", "Knife", "WineBottle", "StoveBurner"]} +{"id": 15358, "folder_dir": "FloorPlan23/3", "pair_name": "0-1:GarbageCan|-01.94|00.00|-03.76", "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. StoveBurner\nB. GarbageCan\nC. Mug\nD. Plate", "answer": "B", "object_name": "GarbageCan", "image_1": "FloorPlan23/3/rgb_0.png", "image_2": "FloorPlan23/3/rgb_1.png", "mask_image": "FloorPlan23/3/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png", "options": ["StoveBurner", "GarbageCan", "Mug", "Plate"]} +{"id": 15359, "folder_dir": "FloorPlan23/3", "pair_name": "0-1:Cabinet|-00.58|+00.39|-01.80", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Knife\nC. StoveBurner\nD. Fridge", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/3/rgb_0.png", "image_2": "FloorPlan23/3/rgb_1.png", "mask_image": "FloorPlan23/3/rgb_1_mask_Cabinet|-00.58|+00.39|-01.80.png", "options": ["Cabinet", "Knife", "StoveBurner", "Fridge"]} +{"id": 15360, "folder_dir": "FloorPlan23/3", "pair_name": "0-1:Cabinet|-00.31|+02.14|-02.48", "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. StoveBurner\nB. WineBottle\nC. Fridge\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/3/rgb_0.png", "image_2": "FloorPlan23/3/rgb_1.png", "mask_image": "FloorPlan23/3/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png", "options": ["StoveBurner", "WineBottle", "Fridge", "Cabinet"]} +{"id": 15361, "folder_dir": "FloorPlan23/3", "pair_name": "0-1:Cabinet|-00.58|+00.39|-03.40", "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. StoveBurner\nB. Knife\nC. Plate\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/3/rgb_0.png", "image_2": "FloorPlan23/3/rgb_1.png", "mask_image": "FloorPlan23/3/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png", "options": ["StoveBurner", "Knife", "Plate", "Cabinet"]} +{"id": 15362, "folder_dir": "FloorPlan23/3", "pair_name": "1-0:Cabinet|-00.33|+01.92|-03.39", "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. StoveBurner\nB. Cabinet\nC. Spoon\nD. SinkBasin", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/3/rgb_1.png", "image_2": "FloorPlan23/3/rgb_0.png", "mask_image": "FloorPlan23/3/rgb_0_mask_Cabinet|-00.33|+01.92|-03.39.png", "options": ["StoveBurner", "Cabinet", "Spoon", "SinkBasin"]} +{"id": 15363, "folder_dir": "FloorPlan23/3", "pair_name": "1-0:Cabinet|-00.30|+01.92|-02.50", "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. Spoon\nB. Cabinet\nC. Fork\nD. StoveBurner", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/3/rgb_1.png", "image_2": "FloorPlan23/3/rgb_0.png", "mask_image": "FloorPlan23/3/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png", "options": ["Spoon", "Cabinet", "Fork", "StoveBurner"]} +{"id": 15364, "folder_dir": "FloorPlan23/3", "pair_name": "1-0:Cabinet|-00.58|+00.39|-02.20", "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. Fork\nB. StoveBurner\nC. Cabinet\nD. Spoon", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/3/rgb_1.png", "image_2": "FloorPlan23/3/rgb_0.png", "mask_image": "FloorPlan23/3/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png", "options": ["Fork", "StoveBurner", "Cabinet", "Spoon"]} +{"id": 15365, "folder_dir": "FloorPlan23/3", "pair_name": "1-0:Cabinet|-00.31|+02.14|-01.54", "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. Spoon\nB. Cabinet\nC. StoveBurner\nD. Fork", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/3/rgb_1.png", "image_2": "FloorPlan23/3/rgb_0.png", "mask_image": "FloorPlan23/3/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png", "options": ["Spoon", "Cabinet", "StoveBurner", "Fork"]} +{"id": 15366, "folder_dir": "FloorPlan23/3", "pair_name": "1-0:Blinds|-02.54|+02.70|-03.96", "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. Blinds\nB. SinkBasin\nC. Fork\nD. StoveBurner", "answer": "A", "object_name": "Blinds", "image_1": "FloorPlan23/3/rgb_1.png", "image_2": "FloorPlan23/3/rgb_0.png", "mask_image": "FloorPlan23/3/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png", "options": ["Blinds", "SinkBasin", "Fork", "StoveBurner"]} +{"id": 15367, "folder_dir": "FloorPlan23/3", "pair_name": "1-0:Cabinet|-01.76|+02.14|-03.69", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Fork\nC. StoveBurner\nD. SinkBasin", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/3/rgb_1.png", "image_2": "FloorPlan23/3/rgb_0.png", "mask_image": "FloorPlan23/3/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png", "options": ["Cabinet", "Fork", "StoveBurner", "SinkBasin"]} +{"id": 15368, "folder_dir": "FloorPlan23/3", "pair_name": "1-0:CoffeeMachine|-00.15|+00.90|-03.14", "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. Fork\nB. CoffeeMachine\nC. StoveBurner\nD. Spoon", "answer": "B", "object_name": "CoffeeMachine", "image_1": "FloorPlan23/3/rgb_1.png", "image_2": "FloorPlan23/3/rgb_0.png", "mask_image": "FloorPlan23/3/rgb_0_mask_CoffeeMachine|-00.15|+00.90|-03.14.png", "options": ["Fork", "CoffeeMachine", "StoveBurner", "Spoon"]} +{"id": 15369, "folder_dir": "FloorPlan23/3", "pair_name": "1-0:Microwave|-01.32|+01.52|-03.80", "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. StoveBurner\nB. Cabinet\nC. Microwave\nD. Spoon", "answer": "C", "object_name": "Microwave", "image_1": "FloorPlan23/3/rgb_1.png", "image_2": "FloorPlan23/3/rgb_0.png", "mask_image": "FloorPlan23/3/rgb_0_mask_Microwave|-01.32|+01.52|-03.80.png", "options": ["StoveBurner", "Cabinet", "Microwave", "Spoon"]} +{"id": 15370, "folder_dir": "FloorPlan23/3", "pair_name": "1-0:GarbageCan|-01.94|00.00|-03.76", "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. StoveBurner\nC. Spoon\nD. Fork", "answer": "A", "object_name": "GarbageCan", "image_1": "FloorPlan23/3/rgb_1.png", "image_2": "FloorPlan23/3/rgb_0.png", "mask_image": "FloorPlan23/3/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png", "options": ["GarbageCan", "StoveBurner", "Spoon", "Fork"]} +{"id": 15371, "folder_dir": "FloorPlan23/3", "pair_name": "1-0:Cabinet|-00.58|+00.39|-01.80", "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. StoveBurner\nB. Fork\nC. Spoon\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/3/rgb_1.png", "image_2": "FloorPlan23/3/rgb_0.png", "mask_image": "FloorPlan23/3/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png", "options": ["StoveBurner", "Fork", "Spoon", "Cabinet"]} +{"id": 15372, "folder_dir": "FloorPlan23/3", "pair_name": "1-0:Cabinet|-00.31|+02.14|-02.48", "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. StoveBurner\nB. Fork\nC. SinkBasin\nD. Cabinet", "answer": "D", "object_name": "Cabinet", "image_1": "FloorPlan23/3/rgb_1.png", "image_2": "FloorPlan23/3/rgb_0.png", "mask_image": "FloorPlan23/3/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png", "options": ["StoveBurner", "Fork", "SinkBasin", "Cabinet"]} +{"id": 15373, "folder_dir": "FloorPlan23/3", "pair_name": "1-0:Cabinet|-00.58|+00.39|-03.40", "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. StoveBurner\nB. Cabinet\nC. Fork\nD. SinkBasin", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/3/rgb_1.png", "image_2": "FloorPlan23/3/rgb_0.png", "mask_image": "FloorPlan23/3/rgb_0_mask_Cabinet|-00.58|+00.39|-03.40.png", "options": ["StoveBurner", "Cabinet", "Fork", "SinkBasin"]} diff --git a/train/FloorPlan23/3/rgb_0.png b/train/FloorPlan23/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..47a1447d68e2de2bc4d5fbbd42c8b9d83841ed23 --- /dev/null +++ b/train/FloorPlan23/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60010e61b72537fd3962c5953d75ab96e0517c94f77f494cbf5e9bf3f55fd984 +size 822702 diff --git a/train/FloorPlan23/3/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png b/train/FloorPlan23/3/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png new file mode 100644 index 0000000000000000000000000000000000000000..c71c27ca1ebb88be839e56bdc28811d47515f2bf --- /dev/null +++ b/train/FloorPlan23/3/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75dc5268ce6f724d37551c8d4967130c1c4c302c9608ec41507624fe0d2b27a9 +size 662223 diff --git a/train/FloorPlan23/3/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png b/train/FloorPlan23/3/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png new file mode 100644 index 0000000000000000000000000000000000000000..7c9a150d6ea1e04432fbcf2139e4806ca333494d --- /dev/null +++ b/train/FloorPlan23/3/rgb_0_mask_Cabinet|-00.30|+01.92|-02.50.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5140e39165bb94cc34bf2b1e6fe53defdb37ef5ea337baa9114b2e569181745 +size 721684 diff --git a/train/FloorPlan23/3/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png b/train/FloorPlan23/3/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png new file mode 100644 index 0000000000000000000000000000000000000000..39309b092fca03e696891ed50df019b341dd81ac --- /dev/null +++ b/train/FloorPlan23/3/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28f3c2d4bee866687cefd4a3690401c6e82a58ef16276965736a9673f63dba23 +size 726008 diff --git a/train/FloorPlan23/3/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png b/train/FloorPlan23/3/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png new file mode 100644 index 0000000000000000000000000000000000000000..63eacc81ca06ae7bd96ad08a570b7bd6392be92f --- /dev/null +++ b/train/FloorPlan23/3/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c0eb9f43215b8a8418e367ee46b342aa0bfda82e1a60ba1dbbf157082e8c5dd +size 726056 diff --git a/train/FloorPlan23/3/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png b/train/FloorPlan23/3/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png new file mode 100644 index 0000000000000000000000000000000000000000..528afafa9462ec8f681517a32557626d18d1d0ee --- /dev/null +++ b/train/FloorPlan23/3/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19100174c2f1c5f07c205c86b6d06fea9d7938447aebdb854948089ae519beef +size 726789 diff --git a/train/FloorPlan23/3/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png b/train/FloorPlan23/3/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png new file mode 100644 index 0000000000000000000000000000000000000000..cdc36e21d935c53185caf2f832844f5844d53d54 --- /dev/null +++ b/train/FloorPlan23/3/rgb_0_mask_Cabinet|-01.76|+02.14|-03.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cff2214c04e2d6395c8f7075c79e8bfcd07a4022419ffa3186315af58a171c91 +size 728656 diff --git a/train/FloorPlan23/3/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png b/train/FloorPlan23/3/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png new file mode 100644 index 0000000000000000000000000000000000000000..0d6b5564a6d7774c8b7af29bc40caf027c41a510 --- /dev/null +++ b/train/FloorPlan23/3/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:206aa5ea467f1625beee6b51b7d50fecfd9f64c2e867a3954023058d89dfee2e +size 720966 diff --git a/train/FloorPlan23/3/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png b/train/FloorPlan23/3/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png new file mode 100644 index 0000000000000000000000000000000000000000..e7dfe564460de5f25a3464b94317b6cf8bc70be9 --- /dev/null +++ b/train/FloorPlan23/3/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:525560b44e4533ffe13aa3f4fb3cbc84f577e944c22f9a590eb97d86b26f3c72 +size 652943 diff --git a/train/FloorPlan23/3/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png b/train/FloorPlan23/3/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png new file mode 100644 index 0000000000000000000000000000000000000000..0a36d4b54d93ac62c3619c30394b3875f8b4c914 --- /dev/null +++ b/train/FloorPlan23/3/rgb_1_mask_Cabinet|-00.30|+01.92|-02.50.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a34a8c9967d4e4b2976c7e5ca26e279602c235df96a07ad802d18076c6a6de0 +size 655945 diff --git a/train/FloorPlan23/3/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png b/train/FloorPlan23/3/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png new file mode 100644 index 0000000000000000000000000000000000000000..e04d8ea57c46c51ca76fa2a8244672a00136b117 --- /dev/null +++ b/train/FloorPlan23/3/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fb1233aad0cb14f86a64347f0bdd06e378bbf09f7a9e066021ddeb4d3c208f2 +size 662125 diff --git a/train/FloorPlan23/3/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png b/train/FloorPlan23/3/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png new file mode 100644 index 0000000000000000000000000000000000000000..4b61f28ea465663072060167aa4546d8507761c1 --- /dev/null +++ b/train/FloorPlan23/3/rgb_1_mask_Cabinet|-00.58|+00.39|-03.40.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:359da3c5e254a8fb047fb6cb7a9b2c763801c540b495fa4aaa572fa1f87fb25a +size 668594 diff --git a/train/FloorPlan23/3/semantic_0.png b/train/FloorPlan23/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c39b70830244ec681e65c1f7003b462b693024ef Binary files /dev/null and b/train/FloorPlan23/3/semantic_0.png differ diff --git a/train/FloorPlan23/30/0.json b/train/FloorPlan23/30/0.json new file mode 100644 index 0000000000000000000000000000000000000000..ebdc8bc2343e9b64f05c40c53385a901d8e4fa2b --- /dev/null +++ b/train/FloorPlan23/30/0.json @@ -0,0 +1,4081 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "object_info": { + "name": "LightSwitch_5e61d7a6", + "position": { + "x": -4.323999881744385, + "y": 1.319000005722046, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.475703239440918, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -4.280065059661865, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.280065059661865, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.2377760410308838, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.2377760410308838, + -0.033031947910785675 + ] + ], + "center": { + "x": -4.323999881744385, + "y": 1.3201357126235962, + "z": -0.01651597023010254 + }, + "size": { + "x": 0.08786964416503906, + "y": 0.1647193431854248, + "z": 0.03303195536136627 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.799999952316284, + "y": 0.9009992480278015, + "z": -3.4000000953674316 + }, + "agent_rotation": { + "x": -0.0, + "y": 9.000000953674316, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.799999952316284, + "y": 1.5759992599487305, + "z": -3.4000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Cabinet|-00.58|+00.39|-02.20", + "Knife|-02.27|+00.92|-02.14", + "Plate|-02.12|+00.92|-02.42", + "CounterTop|-00.30|+00.95|-02.79", + "Cabinet|-00.31|+02.14|-02.48", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Shelf|-02.43|+00.52|-01.69", + "DiningTable|-02.43|+00.00|-01.69", + "Chair|-03.26|+00.00|-02.09", + "Faucet|-00.08|+00.90|-02.03", + "WineBottle|-02.44|+00.92|-02.14", + "Sink|-00.35|+00.91|-02.01" + ], + "different_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Pen|-02.33|+00.92|-00.89", + "Cabinet|-00.31|+02.14|-01.54", + "Apple|-02.66|+00.97|-01.55", + "Chair|-03.24|+00.00|-01.25", + "Bowl|-02.75|+00.92|-01.17", + "Pot|-02.24|+00.92|-01.88", + "Bottle|-02.70|+00.92|-00.88", + "DishSponge|-00.07|+00.91|-01.69", + "Pencil|-02.22|+00.92|-00.86", + "Pan|-02.17|+00.92|-01.10", + "Sink|-00.35|+00.91|-02.01|SinkBasin", + "Lettuce|-02.62|+01.01|-01.73", + "Cabinet|-00.58|+00.39|-01.80", + "LightSwitch|-04.32|+01.32|+00.00", + "Tomato|-02.67|+00.98|-02.01" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/30/0_depth_npy.npy b/train/FloorPlan23/30/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a5b70db45d807f31d7beff3a15077848dc830789 --- /dev/null +++ b/train/FloorPlan23/30/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa0a2311b6b910ca95a144c081e19af95845b54e5926338ece5f5c8dceee9af3 +size 3145856 diff --git a/train/FloorPlan23/30/0_semantic_sensor_npy.npy b/train/FloorPlan23/30/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..09e97a8d76a2d273eedbc49ef63ca44040501d21 --- /dev/null +++ b/train/FloorPlan23/30/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e3dc6d3f821f751e10547e69138bf3629184bc73f140fe3767ea0bd4c4d39ee +size 2359424 diff --git a/train/FloorPlan23/30/1.json b/train/FloorPlan23/30/1.json new file mode 100644 index 0000000000000000000000000000000000000000..d0225068ae450fb4c696e2d1ffe4c873d02576e5 --- /dev/null +++ b/train/FloorPlan23/30/1.json @@ -0,0 +1,4900 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "object_info": { + "name": "Cabinet_b8c26787", + "position": { + "x": -0.8778074383735657, + "y": 0.3888453543186188, + "z": -3.422300100326538 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.647717237472534, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6206655502319336, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.739914894104004 + ] + ], + "center": { + "x": -0.749236524105072, + "y": 0.3888453245162964, + "z": -3.5777101516723633 + }, + "size": { + "x": 0.25714194774627686, + "y": 0.6573984622955322, + "z": 0.32440948486328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -4.199999809265137, + "y": 0.9009994864463806, + "z": -2.200000047683716 + }, + "agent_rotation": { + "x": -0.0, + "y": 141.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -4.199999809265137, + "y": 1.5759994983673096, + "z": -2.200000047683716 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Cabinet|-00.58|+00.39|-02.20", + "Knife|-02.27|+00.92|-02.14", + "Plate|-02.12|+00.92|-02.42", + "CounterTop|-00.30|+00.95|-02.79", + "Cabinet|-00.31|+02.14|-02.48", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Shelf|-02.43|+00.52|-01.69", + "DiningTable|-02.43|+00.00|-01.69", + "Chair|-03.26|+00.00|-02.09", + "Faucet|-00.08|+00.90|-02.03", + "WineBottle|-02.44|+00.92|-02.14", + "Sink|-00.35|+00.91|-02.01" + ], + "different_object": [ + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "StoveBurner|-01.52|+00.93|-03.75", + "Drawer|-00.75|+00.78|-03.55", + "ButterKnife|-00.31|+00.91|-03.44", + "SaltShaker|-00.83|+00.90|-03.77", + "Blinds|-02.54|+02.70|-03.96", + "Window|-02.50|+01.78|-04.19", + "Cabinet|-01.76|+02.14|-03.69", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.52|+00.93|-03.50", + "Drawer|-00.45|+00.78|-03.27", + "StoveBurner|-01.13|+00.93|-03.75", + "GarbageCan|-01.94|00.00|-03.76", + "PepperShaker|-00.44|+00.90|-03.35", + "Toaster|-00.18|+00.90|-02.76", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.58|+00.39|-03.40", + "Cabinet|-00.88|+02.14|-03.69", + "Spatula|-00.30|+00.91|-02.54", + "Cabinet|-00.88|+00.39|-03.42" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/30/1_depth_npy.npy b/train/FloorPlan23/30/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e0332e4b74016160fbb8f58912f78cace4da2628 --- /dev/null +++ b/train/FloorPlan23/30/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd032b11556a8b038f332dae3ddb23c71fdec21137bff32dacb6d9013764b9fc +size 3145856 diff --git a/train/FloorPlan23/30/1_semantic_sensor_npy.npy b/train/FloorPlan23/30/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..96a1fe94796a1f9304729e7b146eb926ca1efc7d --- /dev/null +++ b/train/FloorPlan23/30/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54c1a29c8b6555e38e5ba77249ebf00bf0c53bd7676e3da67bd65f25c2bf4a87 +size 2359424 diff --git a/train/FloorPlan23/30/depth_0.png b/train/FloorPlan23/30/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..0887d7bc022c3c0216ec469f497fdb1d41a28e0f Binary files /dev/null and b/train/FloorPlan23/30/depth_0.png differ diff --git a/train/FloorPlan23/30/depth_1.png b/train/FloorPlan23/30/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ce2784f5fa473c08d7ff048ecca54fe20775f408 Binary files /dev/null and b/train/FloorPlan23/30/depth_1.png differ diff --git a/train/FloorPlan23/30/mask_questions.jsonl b/train/FloorPlan23/30/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67f9c683efd48cb67fdca5bfc9ec31e5bb8520d6 --- /dev/null +++ b/train/FloorPlan23/30/mask_questions.jsonl @@ -0,0 +1,11 @@ +{"id": 15379, "folder_dir": "FloorPlan23/30", "pair_name": "0-1:Cabinet|-00.58|+00.39|-02.20", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pot\nB. Bowl\nC. Cabinet\nD. Knife", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/30/rgb_0.png", "image_2": "FloorPlan23/30/rgb_1.png", "mask_image": "FloorPlan23/30/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png", "options": ["Pot", "Bowl", "Cabinet", "Knife"]} +{"id": 15380, "folder_dir": "FloorPlan23/30", "pair_name": "0-1:Cabinet|-00.31|+02.14|-02.48", "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. Chair\nB. Cabinet\nC. Pan\nD. Cabinet", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/30/rgb_0.png", "image_2": "FloorPlan23/30/rgb_1.png", "mask_image": "FloorPlan23/30/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png", "options": ["Chair", "Cabinet", "Pan", "Cabinet"]} +{"id": 15381, "folder_dir": "FloorPlan23/30", "pair_name": "0-1:Mug|-02.59|+00.92|-02.31", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Mug\nC. Pen\nD. Apple", "answer": "B", "object_name": "Mug", "image_1": "FloorPlan23/30/rgb_0.png", "image_2": "FloorPlan23/30/rgb_1.png", "mask_image": "FloorPlan23/30/rgb_1_mask_Mug|-02.59|+00.92|-02.31.png", "options": ["Cabinet", "Mug", "Pen", "Apple"]} +{"id": 15382, "folder_dir": "FloorPlan23/30", "pair_name": "0-1:Chair|-03.26|+00.00|-02.09", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Pen\nC. Chair\nD. Lettuce", "answer": "C", "object_name": "Chair", "image_1": "FloorPlan23/30/rgb_0.png", "image_2": "FloorPlan23/30/rgb_1.png", "mask_image": "FloorPlan23/30/rgb_1_mask_Chair|-03.26|+00.00|-02.09.png", "options": ["Cabinet", "Pen", "Chair", "Lettuce"]} +{"id": 15383, "folder_dir": "FloorPlan23/30", "pair_name": "0-1:WineBottle|-02.44|+00.92|-02.14", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Bowl\nC. WineBottle\nD. Pen", "answer": "C", "object_name": "WineBottle", "image_1": "FloorPlan23/30/rgb_0.png", "image_2": "FloorPlan23/30/rgb_1.png", "mask_image": "FloorPlan23/30/rgb_1_mask_WineBottle|-02.44|+00.92|-02.14.png", "options": ["Cabinet", "Bowl", "WineBottle", "Pen"]} +{"id": 15384, "folder_dir": "FloorPlan23/30", "pair_name": "1-0:Cabinet|-00.58|+00.39|-02.20", "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. Knife\nB. StoveBurner\nC. Cabinet\nD. PepperShaker", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/30/rgb_1.png", "image_2": "FloorPlan23/30/rgb_0.png", "mask_image": "FloorPlan23/30/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png", "options": ["Knife", "StoveBurner", "Cabinet", "PepperShaker"]} +{"id": 15385, "folder_dir": "FloorPlan23/30", "pair_name": "1-0:Plate|-02.12|+00.92|-02.42", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. ButterKnife\nC. Plate\nD. Microwave", "answer": "C", "object_name": "Plate", "image_1": "FloorPlan23/30/rgb_1.png", "image_2": "FloorPlan23/30/rgb_0.png", "mask_image": "FloorPlan23/30/rgb_0_mask_Plate|-02.12|+00.92|-02.42.png", "options": ["Cabinet", "ButterKnife", "Plate", "Microwave"]} +{"id": 15386, "folder_dir": "FloorPlan23/30", "pair_name": "1-0:Cabinet|-00.31|+02.14|-02.48", "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. CoffeeMachine\nB. Cabinet\nC. Spatula\nD. Cabinet", "answer": "B", "object_name": "Cabinet", "image_1": "FloorPlan23/30/rgb_1.png", "image_2": "FloorPlan23/30/rgb_0.png", "mask_image": "FloorPlan23/30/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png", "options": ["CoffeeMachine", "Cabinet", "Spatula", "Cabinet"]} +{"id": 15387, "folder_dir": "FloorPlan23/30", "pair_name": "1-0:Shelf|-02.43|+00.52|-01.69", "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. Blinds\nB. Shelf\nC. Cabinet\nD. CoffeeMachine", "answer": "B", "object_name": "Shelf", "image_1": "FloorPlan23/30/rgb_1.png", "image_2": "FloorPlan23/30/rgb_0.png", "mask_image": "FloorPlan23/30/rgb_0_mask_Shelf|-02.43|+00.52|-01.69.png", "options": ["Blinds", "Shelf", "Cabinet", "CoffeeMachine"]} +{"id": 15388, "folder_dir": "FloorPlan23/30", "pair_name": "1-0:Chair|-03.26|+00.00|-02.09", "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. ButterKnife\nB. Window\nC. Cabinet\nD. Chair", "answer": "D", "object_name": "Chair", "image_1": "FloorPlan23/30/rgb_1.png", "image_2": "FloorPlan23/30/rgb_0.png", "mask_image": "FloorPlan23/30/rgb_0_mask_Chair|-03.26|+00.00|-02.09.png", "options": ["ButterKnife", "Window", "Cabinet", "Chair"]} +{"id": 15389, "folder_dir": "FloorPlan23/30", "pair_name": "1-0:WineBottle|-02.44|+00.92|-02.14", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Toaster\nB. Window\nC. WineBottle\nD. Cabinet", "answer": "C", "object_name": "WineBottle", "image_1": "FloorPlan23/30/rgb_1.png", "image_2": "FloorPlan23/30/rgb_0.png", "mask_image": "FloorPlan23/30/rgb_0_mask_WineBottle|-02.44|+00.92|-02.14.png", "options": ["Toaster", "Window", "WineBottle", "Cabinet"]} diff --git a/train/FloorPlan23/30/questions_distance.jsonl b/train/FloorPlan23/30/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..45e49a3a90963bbd7b6ef030950a324162824b53 --- /dev/null +++ b/train/FloorPlan23/30/questions_distance.jsonl @@ -0,0 +1,3 @@ +{"id": 4583, "folder_dir": "FloorPlan23/30", "query": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Toaster\nB. CoffeeMachine\nC. PepperShaker\nD. Other\n", "answer": "A", "src_object": "CounterTop", "target_object": "Toaster", "question": "Which of the following objects is closest to CounterTop in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Toaster", "semantic_id": "Toaster|-00.18|+00.90|-02.76", "distance": 0.32551581694460907, "com": {"x": -0.19870756566524506, "y": 0.9931158423423767, "z": -2.76408052444458}}, {"text": "CoffeeMachine", "semantic_id": "CoffeeMachine|-00.15|+00.90|-03.14", "distance": 0.33693807644203705, "com": {"x": -0.2524435818195343, "y": 1.1250267028808594, "z": -3.143627166748047}}, {"text": "PepperShaker", "semantic_id": "PepperShaker|-00.44|+00.90|-03.35", "distance": 0.3860291190882056, "com": {"x": -0.4387167692184448, "y": 0.9609774351119995, "z": -3.347060203552246}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/30/rgb_0.png", "image_2": "FloorPlan23/30/rgb_1.png"} +{"id": 4584, "folder_dir": "FloorPlan23/30", "query": "Which of the following objects is closest to Shelf 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. Lettuce\nB. DiningTable\nC. Apple\nD. Other\n", "answer": "B", "src_object": "Shelf", "target_object": "DiningTable", "question": "Which of the following objects is closest to Shelf 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": "Lettuce", "semantic_id": "Lettuce|-02.62|+01.01|-01.73", "distance": 0.4293648933604198, "com": {"x": -2.620821714401245, "y": 1.0096420049667358, "z": -1.7274253368377686}}, {"text": "DiningTable", "semantic_id": "DiningTable|-02.43|+00.00|-01.69", "distance": 0.16670646135954628, "com": {"x": -2.4259777069091797, "y": 0.45873498916625977, "z": -1.6935337781906128}}, {"text": "Apple", "semantic_id": "Apple|-02.66|+00.97|-01.55", "distance": 0.44575126738207627, "com": {"x": -2.66848087310791, "y": 0.9702385067939758, "z": -1.5395169258117676}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/30/rgb_0.png", "image_2": "FloorPlan23/30/rgb_1.png"} +{"id": 4585, "folder_dir": "FloorPlan23/30", "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. Lettuce\nB. Pot\nC. Shelf\nD. Other\n", "answer": "C", "src_object": "DiningTable", "target_object": "Shelf", "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": "Lettuce", "semantic_id": "Lettuce|-02.62|+01.01|-01.73", "distance": 0.5853301333959219, "com": {"x": -2.620821714401245, "y": 1.0096420049667358, "z": -1.7274253368377686}}, {"text": "Pot", "semantic_id": "Pot|-02.24|+00.92|-01.88", "distance": 0.5858293435623843, "com": {"x": -2.238513231277466, "y": 0.9807913899421692, "z": -1.8819752931594849}}, {"text": "Shelf", "semantic_id": "Shelf|-02.43|+00.52|-01.69", "distance": 0.16670646135954628, "com": {"x": -2.432276964187622, "y": 0.6253209710121155, "z": -1.6942224502563477}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/30/rgb_0.png", "image_2": "FloorPlan23/30/rgb_1.png"} diff --git a/train/FloorPlan23/30/rgb_0.png b/train/FloorPlan23/30/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7a17d34ed7ca570455600d0105ac41f9b15539f7 --- /dev/null +++ b/train/FloorPlan23/30/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31f4198c069823744b887bcf64e252910bade96fc35445052564ef080487cbce +size 802901 diff --git a/train/FloorPlan23/30/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png b/train/FloorPlan23/30/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png new file mode 100644 index 0000000000000000000000000000000000000000..3bbbc725ec8573131050ba29e980e7a80af3ab32 --- /dev/null +++ b/train/FloorPlan23/30/rgb_0_mask_Cabinet|-00.31|+02.14|-02.48.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac8871a0e46461ac8457dd8ea87f864ebc8135263b1336d250d3ea6fe83595fd +size 705212 diff --git a/train/FloorPlan23/30/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png b/train/FloorPlan23/30/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png new file mode 100644 index 0000000000000000000000000000000000000000..570bc1c6baa4ce373bc3fec755eb38e71114ee71 --- /dev/null +++ b/train/FloorPlan23/30/rgb_0_mask_Cabinet|-00.58|+00.39|-02.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f58d6b9345016ac736e02d669327539161e674ea548921489f0b5bc15056bdfd +size 695211 diff --git a/train/FloorPlan23/30/rgb_0_mask_Chair|-03.26|+00.00|-02.09.png b/train/FloorPlan23/30/rgb_0_mask_Chair|-03.26|+00.00|-02.09.png new file mode 100644 index 0000000000000000000000000000000000000000..cf4bc669222a85396d4da5b2af97ff09e3cd8010 --- /dev/null +++ b/train/FloorPlan23/30/rgb_0_mask_Chair|-03.26|+00.00|-02.09.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb264ea3b8ef401a984e743fcc4a3530db0a9019bb9e36c2016f1e7d2969f7d7 +size 662858 diff --git a/train/FloorPlan23/30/rgb_0_mask_Plate|-02.12|+00.92|-02.42.png b/train/FloorPlan23/30/rgb_0_mask_Plate|-02.12|+00.92|-02.42.png new file mode 100644 index 0000000000000000000000000000000000000000..c7e72f54b120f5da3d531f2a72028711bd2bd1b3 --- /dev/null +++ b/train/FloorPlan23/30/rgb_0_mask_Plate|-02.12|+00.92|-02.42.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ae3984168d7d803dc84f411c074ad54f4eacdb5646b3e1c1cb266d8c7a375a4 +size 700626 diff --git a/train/FloorPlan23/30/rgb_0_mask_Shelf|-02.43|+00.52|-01.69.png b/train/FloorPlan23/30/rgb_0_mask_Shelf|-02.43|+00.52|-01.69.png new file mode 100644 index 0000000000000000000000000000000000000000..1a3b1ef406b84ee81e8bbcffa974941d8676e043 --- /dev/null +++ b/train/FloorPlan23/30/rgb_0_mask_Shelf|-02.43|+00.52|-01.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d295ab58b4e9ac8a278f9b85fca3bf52e1be34e14962cad45dd0d3fc33c59b50 +size 693533 diff --git a/train/FloorPlan23/30/rgb_0_mask_WineBottle|-02.44|+00.92|-02.14.png b/train/FloorPlan23/30/rgb_0_mask_WineBottle|-02.44|+00.92|-02.14.png new file mode 100644 index 0000000000000000000000000000000000000000..1ec400a346a30e4fcbc0d3f12194e45380c04e43 --- /dev/null +++ b/train/FloorPlan23/30/rgb_0_mask_WineBottle|-02.44|+00.92|-02.14.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffd906828e51dbd382ff2fc4c93b984ce9dec5b224ffbc69f855918297d8fb3b +size 704631 diff --git a/train/FloorPlan23/30/rgb_1.png b/train/FloorPlan23/30/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..7f33d6037affb13275f31c10a7230b0c7ac7b0ea --- /dev/null +++ b/train/FloorPlan23/30/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb9287539cc6270047518c44367dd403518ffa7231845ed0326d443108e887f1 +size 779253 diff --git a/train/FloorPlan23/30/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png b/train/FloorPlan23/30/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png new file mode 100644 index 0000000000000000000000000000000000000000..a6ff35d7448867ac689439dba2d4b3e5ea91b306 --- /dev/null +++ b/train/FloorPlan23/30/rgb_1_mask_Cabinet|-00.31|+02.14|-02.48.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3c7c39363d378b20598413a2a8dae781940f2cc1696a962a3596cb08ba1258a +size 684079 diff --git a/train/FloorPlan23/30/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png b/train/FloorPlan23/30/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png new file mode 100644 index 0000000000000000000000000000000000000000..09002c620eef4ae27397c6ca7f387f1069256c00 --- /dev/null +++ b/train/FloorPlan23/30/rgb_1_mask_Cabinet|-00.58|+00.39|-02.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a77f9fd8827c40372a750009ddfb2d4ea540242298359cffd184628a6d7c294b +size 686800 diff --git a/train/FloorPlan23/30/rgb_1_mask_Chair|-03.26|+00.00|-02.09.png b/train/FloorPlan23/30/rgb_1_mask_Chair|-03.26|+00.00|-02.09.png new file mode 100644 index 0000000000000000000000000000000000000000..42171f690dac5668c24e5646e4e9227320881838 --- /dev/null +++ b/train/FloorPlan23/30/rgb_1_mask_Chair|-03.26|+00.00|-02.09.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a53847033151553358a492c5a68304d33f3c3d50ac6b5015609ff022413deff1 +size 686568 diff --git a/train/FloorPlan23/30/rgb_1_mask_Mug|-02.59|+00.92|-02.31.png b/train/FloorPlan23/30/rgb_1_mask_Mug|-02.59|+00.92|-02.31.png new file mode 100644 index 0000000000000000000000000000000000000000..2794a291555f974ec8bc25565500780dd0959aa2 --- /dev/null +++ b/train/FloorPlan23/30/rgb_1_mask_Mug|-02.59|+00.92|-02.31.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e154e992d8623973e06d0d90d530ac5312e159db19d9b87e06eefe8a2c67bba1 +size 688239 diff --git a/train/FloorPlan23/30/rgb_1_mask_WineBottle|-02.44|+00.92|-02.14.png b/train/FloorPlan23/30/rgb_1_mask_WineBottle|-02.44|+00.92|-02.14.png new file mode 100644 index 0000000000000000000000000000000000000000..bd066064aaea8610bd9ce07a2b3a060abbc40016 --- /dev/null +++ b/train/FloorPlan23/30/rgb_1_mask_WineBottle|-02.44|+00.92|-02.14.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3a62d4768116ff754513017394b072a4d5a2482a3c799608026a471ac340a20 +size 687174 diff --git a/train/FloorPlan23/30/semantic_0.png b/train/FloorPlan23/30/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..dd30adf1ef83aab418f8dd8d924672ecacf2ebd7 Binary files /dev/null and b/train/FloorPlan23/30/semantic_0.png differ diff --git a/train/FloorPlan23/30/semantic_1.png b/train/FloorPlan23/30/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f03bc306bf6207d046caa13de28fca01be99a6f2 Binary files /dev/null and b/train/FloorPlan23/30/semantic_1.png differ diff --git a/train/FloorPlan23/31/0.json b/train/FloorPlan23/31/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fd8e97ccbb1833042ede3260935413a7cb4f3ac0 --- /dev/null +++ b/train/FloorPlan23/31/0.json @@ -0,0 +1,5347 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Potato|-02.08|+00.95|-01.60", + "object_info": { + "name": "Potato_097cac87", + "position": { + "x": -2.0824663639068604, + "y": 0.9517925977706909, + "z": -1.595628023147583 + }, + "rotation": { + "x": 0.09599222987890244, + "y": 295.7773132324219, + "z": 0.3481499254703522 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": true, + "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": 0.18000000715255737, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.42998206615448, + "objectType": "Potato", + "objectId": "Potato|-02.08|+00.95|-01.60", + "assetId": "Potato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0365054607391357, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.6359621286392212 + ] + ], + "center": { + "x": -2.084045886993408, + "y": 0.9514029026031494, + "z": -1.5954636335372925 + }, + "size": { + "x": 0.09508085250854492, + "y": 0.0678938627243042, + "z": 0.08099699020385742 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.11331844329834, + 0.9176058173179626, + -1.5434285402297974 + ], + [ + -2.1428205966949463, + 0.9171935319900513, + -1.6045199632644653 + ], + [ + -2.0544910430908203, + 0.9173579216003418, + -1.64717698097229 + ], + [ + -2.024988889694214, + 0.9177701473236084, + -1.586085557937622 + ], + [ + -2.113600015640259, + 0.9854477643966675, + -1.5437504053115845 + ], + [ + -2.1431021690368652, + 0.9850355386734009, + -1.6048418283462524 + ], + [ + -2.0547726154327393, + 0.9851998686790466, + -1.6474988460540771 + ], + [ + -2.025270462036133, + 0.985612154006958, + -1.5864073038101196 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -3.0999999046325684, + "y": 0.9009994268417358, + "z": -2.700000047683716 + }, + "agent_rotation": { + "x": -0.0, + "y": 56.000003814697266, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -3.0999999046325684, + "y": 1.5759994983673096, + "z": -2.700000047683716 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Pen|-02.33|+00.92|-00.89", + "Bowl|-02.75|+00.92|-01.17", + "Bottle|-02.70|+00.92|-00.88", + "DiningTable|-02.43|+00.00|-01.69", + "Pencil|-02.22|+00.92|-00.86", + "Pan|-02.17|+00.92|-01.10" + ], + "different_object": [ + "Apple|-02.66|+00.97|-01.55", + "Cabinet|-00.33|+01.92|-03.39", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Sink|-00.35|+00.91|-02.01", + "Pot|-02.24|+00.92|-01.88", + "Drawer|-00.75|+00.78|-03.55", + "ButterKnife|-00.31|+00.91|-03.44", + "CounterTop|-00.30|+00.95|-02.79", + "Cup|-02.44|+00.92|-02.36", + "Sink|-00.35|+00.91|-02.01|SinkBasin", + "Faucet|-00.08|+00.90|-02.03", + "Tomato|-02.67|+00.98|-02.01", + "Cabinet|-00.58|+00.39|-02.20", + "Cabinet|-00.31|+02.14|-01.54", + "Knife|-02.27|+00.92|-02.14", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Drawer|-00.45|+00.78|-03.27", + "DishSponge|-00.07|+00.91|-01.69", + "PepperShaker|-00.44|+00.90|-03.35", + "Lettuce|-02.62|+01.01|-01.73", + "Cabinet|-00.58|+00.39|-01.80", + "WineBottle|-02.44|+00.92|-02.14", + "Toaster|-00.18|+00.90|-02.76", + "Plate|-02.12|+00.92|-02.42", + "Cabinet|-00.31|+02.14|-02.48", + "Mug|-02.59|+00.92|-02.31", + "Potato|-02.08|+00.95|-01.60", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.58|+00.39|-03.40", + "Spatula|-00.30|+00.91|-02.54" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/31/0_depth_npy.npy b/train/FloorPlan23/31/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..03a7a49058765f6f8f395f6cca884f64a7b3ba76 --- /dev/null +++ b/train/FloorPlan23/31/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7898c99a3355d676e38d354bd8ba92d23ff9bf7569ff430facd1bb4960305f85 +size 3145856 diff --git a/train/FloorPlan23/31/0_semantic_sensor_npy.npy b/train/FloorPlan23/31/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d8e0192b75fe4be15cf7752f300a62699c2e732a --- /dev/null +++ b/train/FloorPlan23/31/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38897baa42e8a99226b682fdb9df87f2384c7d57ab292b2e2d865784e411c695 +size 2359424 diff --git a/train/FloorPlan23/31/1.json b/train/FloorPlan23/31/1.json new file mode 100644 index 0000000000000000000000000000000000000000..d3bba08c16618ccbb065900bf08cabf115cbac7e --- /dev/null +++ b/train/FloorPlan23/31/1.json @@ -0,0 +1,1473 @@ +{ + "object": [ + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "object_info": { + "name": "LightSwitch_5e61d7a6", + "position": { + "x": -4.323999881744385, + "y": 1.319000005722046, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.475703239440918, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -4.280065059661865, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.280065059661865, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.2377760410308838, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.2377760410308838, + -0.033031947910785675 + ] + ], + "center": { + "x": -4.323999881744385, + "y": 1.3201357126235962, + "z": -0.01651597023010254 + }, + "size": { + "x": 0.08786964416503906, + "y": 0.1647193431854248, + "z": 0.03303195536136627 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -3.9000000953674316, + "y": 0.9009994864463806, + "z": -1.600000023841858 + }, + "agent_rotation": { + "x": -0.0, + "y": 29.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -3.9000000953674316, + "y": 1.5759994983673096, + "z": -1.600000023841858 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Pen|-02.33|+00.92|-00.89", + "Bowl|-02.75|+00.92|-01.17", + "Bottle|-02.70|+00.92|-00.88", + "DiningTable|-02.43|+00.00|-01.69", + "Pencil|-02.22|+00.92|-00.86", + "Pan|-02.17|+00.92|-01.10" + ], + "different_object": [ + "LightSwitch|-04.32|+01.32|+00.00", + "Chair|-03.24|+00.00|-01.25", + "Shelf|-02.43|+00.52|-01.69" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/31/1_depth_npy.npy b/train/FloorPlan23/31/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e84770e4e46168f27969387efb01add95eb4a2c7 --- /dev/null +++ b/train/FloorPlan23/31/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17ee231cc0c3af94263391c7074721c52a361887454a761f91bd384906f44290 +size 3145856 diff --git a/train/FloorPlan23/31/1_semantic_sensor_npy.npy b/train/FloorPlan23/31/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..88c653310a1e40964070e897b20347f1e962d07e --- /dev/null +++ b/train/FloorPlan23/31/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efdd1774124464af2d7d4f6e4e53abd73f7a304d9fe3e9c14af3d45f99b54827 +size 2359424 diff --git a/train/FloorPlan23/31/depth_0.png b/train/FloorPlan23/31/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3966465ef436c84bc42c545b1548f3b3504dae5b Binary files /dev/null and b/train/FloorPlan23/31/depth_0.png differ diff --git a/train/FloorPlan23/31/depth_1.png b/train/FloorPlan23/31/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a0162fc6bac91ad454d0f5f0244f2bb477e5fb04 Binary files /dev/null and b/train/FloorPlan23/31/depth_1.png differ diff --git a/train/FloorPlan23/31/mask_questions.jsonl b/train/FloorPlan23/31/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19a2bd024a1cfc31459695bad5f67090fb114d07 --- /dev/null +++ b/train/FloorPlan23/31/mask_questions.jsonl @@ -0,0 +1,7 @@ +{"id": 15390, "folder_dir": "FloorPlan23/31", "pair_name": "0-1:Bowl|-02.75|+00.92|-01.17", "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. Bowl\nB. Drawer\nC. Fridge\nD. Cabinet", "answer": "A", "object_name": "Bowl", "image_1": "FloorPlan23/31/rgb_0.png", "image_2": "FloorPlan23/31/rgb_1.png", "mask_image": "FloorPlan23/31/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png", "options": ["Bowl", "Drawer", "Fridge", "Cabinet"]} +{"id": 15391, "folder_dir": "FloorPlan23/31", "pair_name": "0-1:Bottle|-02.70|+00.92|-00.88", "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. Bottle\nC. Sink\nD. Drawer", "answer": "B", "object_name": "Bottle", "image_1": "FloorPlan23/31/rgb_0.png", "image_2": "FloorPlan23/31/rgb_1.png", "mask_image": "FloorPlan23/31/rgb_1_mask_Bottle|-02.70|+00.92|-00.88.png", "options": ["Fridge", "Bottle", "Sink", "Drawer"]} +{"id": 15392, "folder_dir": "FloorPlan23/31", "pair_name": "0-1:Pan|-02.17|+00.92|-01.10", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CounterTop\nB. Pan\nC. Fridge\nD. Cup", "answer": "B", "object_name": "Pan", "image_1": "FloorPlan23/31/rgb_0.png", "image_2": "FloorPlan23/31/rgb_1.png", "mask_image": "FloorPlan23/31/rgb_1_mask_Pan|-02.17|+00.92|-01.10.png", "options": ["CounterTop", "Pan", "Fridge", "Cup"]} +{"id": 15393, "folder_dir": "FloorPlan23/31", "pair_name": "1-0:Fridge|-00.33|+00.00|-00.77", "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. LightSwitch\nB. Pen\nC. Chair\nD. Fridge", "answer": "D", "object_name": "Fridge", "image_1": "FloorPlan23/31/rgb_1.png", "image_2": "FloorPlan23/31/rgb_0.png", "mask_image": "FloorPlan23/31/rgb_0_mask_Fridge|-00.33|+00.00|-00.77.png", "options": ["LightSwitch", "Pen", "Chair", "Fridge"]} +{"id": 15394, "folder_dir": "FloorPlan23/31", "pair_name": "1-0:Bowl|-02.75|+00.92|-01.17", "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. LightSwitch\nC. Chair\nD. Bowl", "answer": "D", "object_name": "Bowl", "image_1": "FloorPlan23/31/rgb_1.png", "image_2": "FloorPlan23/31/rgb_0.png", "mask_image": "FloorPlan23/31/rgb_0_mask_Bowl|-02.75|+00.92|-01.17.png", "options": ["Fridge", "LightSwitch", "Chair", "Bowl"]} +{"id": 15395, "folder_dir": "FloorPlan23/31", "pair_name": "1-0:Bottle|-02.70|+00.92|-00.88", "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. Bottle\nC. Fridge\nD. LightSwitch", "answer": "B", "object_name": "Bottle", "image_1": "FloorPlan23/31/rgb_1.png", "image_2": "FloorPlan23/31/rgb_0.png", "mask_image": "FloorPlan23/31/rgb_0_mask_Bottle|-02.70|+00.92|-00.88.png", "options": ["Chair", "Bottle", "Fridge", "LightSwitch"]} +{"id": 15396, "folder_dir": "FloorPlan23/31", "pair_name": "1-0:Pan|-02.17|+00.92|-01.10", "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. Pan\nB. Fridge\nC. LightSwitch\nD. Shelf", "answer": "A", "object_name": "Pan", "image_1": "FloorPlan23/31/rgb_1.png", "image_2": "FloorPlan23/31/rgb_0.png", "mask_image": "FloorPlan23/31/rgb_0_mask_Pan|-02.17|+00.92|-01.10.png", "options": ["Pan", "Fridge", "LightSwitch", "Shelf"]} diff --git a/train/FloorPlan23/31/questions_distance.jsonl b/train/FloorPlan23/31/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d38dc75a85e6d76c0ed6567ebff6b6c70d84e1c --- /dev/null +++ b/train/FloorPlan23/31/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4586, "folder_dir": "FloorPlan23/31", "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. Faucet\nB. SoapBottle\nC. DishSponge\nD. Other\n", "answer": "C", "src_object": "Fridge", "target_object": "DishSponge", "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": "Faucet", "semantic_id": "Faucet|-00.08|+00.90|-02.03", "distance": 1.2748797529870763, "com": {"x": -0.1677103042602539, "y": 0.9829331636428833, "z": -2.0341999530792236}}, {"text": "SoapBottle", "semantic_id": "SoapBottle|-00.18|+00.90|-02.46", "distance": 1.6943977353944495, "com": {"x": -0.183001309633255, "y": 1.0065033435821533, "z": -2.458003520965576}}, {"text": "DishSponge", "semantic_id": "DishSponge|-00.07|+00.91|-01.69", "distance": 0.9572340251047243, "com": {"x": -0.07007645070552826, "y": 0.9169249534606934, "z": -1.6864699125289917}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/31/rgb_0.png", "image_2": "FloorPlan23/31/rgb_1.png"} +{"id": 4587, "folder_dir": "FloorPlan23/31", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pot\nB. Lettuce\nC. Shelf\nD. Other\n", "answer": "C", "src_object": "DiningTable", "target_object": "Shelf", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pot", "semantic_id": "Pot|-02.24|+00.92|-01.88", "distance": 0.5858293435623843, "com": {"x": -2.238513231277466, "y": 0.9807913899421692, "z": -1.8819752931594849}}, {"text": "Lettuce", "semantic_id": "Lettuce|-02.62|+01.01|-01.73", "distance": 0.5853301333959219, "com": {"x": -2.620821714401245, "y": 1.0096420049667358, "z": -1.7274253368377686}}, {"text": "Shelf", "semantic_id": "Shelf|-02.43|+00.52|-01.69", "distance": 0.16670646135954628, "com": {"x": -2.432276964187622, "y": 0.6253209710121155, "z": -1.6942224502563477}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/31/rgb_0.png", "image_2": "FloorPlan23/31/rgb_1.png"} diff --git a/train/FloorPlan23/31/rgb_0.png b/train/FloorPlan23/31/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..cbf9ec283bd8433da30d8ff6c6d0cce876ade8c2 --- /dev/null +++ b/train/FloorPlan23/31/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:442468c98871cb12c5302d83663605777ac01b914e827f550a52c781b26930db +size 829601 diff --git a/train/FloorPlan23/31/rgb_0_mask_Bottle|-02.70|+00.92|-00.88.png b/train/FloorPlan23/31/rgb_0_mask_Bottle|-02.70|+00.92|-00.88.png new file mode 100644 index 0000000000000000000000000000000000000000..cb272bd881b255c0936821578c1118a4b26bac0d --- /dev/null +++ b/train/FloorPlan23/31/rgb_0_mask_Bottle|-02.70|+00.92|-00.88.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:063db07643cc361d26f7e8fc7a6e76c0be024c7a709231348f1e19a947ebb3c9 +size 725440 diff --git a/train/FloorPlan23/31/rgb_0_mask_Bowl|-02.75|+00.92|-01.17.png b/train/FloorPlan23/31/rgb_0_mask_Bowl|-02.75|+00.92|-01.17.png new file mode 100644 index 0000000000000000000000000000000000000000..4b816d7f09fd8153b5111d5e1c719796b1b21ec2 --- /dev/null +++ b/train/FloorPlan23/31/rgb_0_mask_Bowl|-02.75|+00.92|-01.17.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bbc9eaf8237ddf1def7d9ed1bb61d8c243ff33d1648f6943956744dba9091c3 +size 723880 diff --git a/train/FloorPlan23/31/rgb_0_mask_Fridge|-00.33|+00.00|-00.77.png b/train/FloorPlan23/31/rgb_0_mask_Fridge|-00.33|+00.00|-00.77.png new file mode 100644 index 0000000000000000000000000000000000000000..b88ea641b20c0e01df4357d81ad645652fe16826 --- /dev/null +++ b/train/FloorPlan23/31/rgb_0_mask_Fridge|-00.33|+00.00|-00.77.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db74cff07e8736fe4cf2b97c7b404fa6d832c1f3f462d9b3b1387b75e117c2b0 +size 708908 diff --git a/train/FloorPlan23/31/rgb_0_mask_Pan|-02.17|+00.92|-01.10.png b/train/FloorPlan23/31/rgb_0_mask_Pan|-02.17|+00.92|-01.10.png new file mode 100644 index 0000000000000000000000000000000000000000..dc244fa212b1fbecf6a8ec4670d6b45cf50ba5ac --- /dev/null +++ b/train/FloorPlan23/31/rgb_0_mask_Pan|-02.17|+00.92|-01.10.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6fc44212e8f229698b5a6690516676d16adfd2eb85cd45d445ab9620b1e4878 +size 726221 diff --git a/train/FloorPlan23/31/rgb_1.png b/train/FloorPlan23/31/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..10311bda14d8309f90a0d34103ba6ac159fe6098 --- /dev/null +++ b/train/FloorPlan23/31/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a804455db7da6f6a39c5350efb554a08ae41affb110727832f7fc50af7fc8d4 +size 789563 diff --git a/train/FloorPlan23/31/rgb_1_mask_Bottle|-02.70|+00.92|-00.88.png b/train/FloorPlan23/31/rgb_1_mask_Bottle|-02.70|+00.92|-00.88.png new file mode 100644 index 0000000000000000000000000000000000000000..9e89c0826be723b76cffdf3054af148d07f47402 --- /dev/null +++ b/train/FloorPlan23/31/rgb_1_mask_Bottle|-02.70|+00.92|-00.88.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ad8129ac2b5dbaa9dbefb17e3602160030eec9de3b89eb82eb373fded03b8ed +size 688414 diff --git a/train/FloorPlan23/31/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png b/train/FloorPlan23/31/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png new file mode 100644 index 0000000000000000000000000000000000000000..a856233c5f478124bd49d9e28786b90e1e0ac92a --- /dev/null +++ b/train/FloorPlan23/31/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3316219f022035bb77cd14331d7c6c834cbf438ba7e7a649d4c9fcd9ea29a5e7 +size 682832 diff --git a/train/FloorPlan23/31/rgb_1_mask_Pan|-02.17|+00.92|-01.10.png b/train/FloorPlan23/31/rgb_1_mask_Pan|-02.17|+00.92|-01.10.png new file mode 100644 index 0000000000000000000000000000000000000000..87ff03b2e357ffd7171bf589b7ac7ba8a09f41b3 --- /dev/null +++ b/train/FloorPlan23/31/rgb_1_mask_Pan|-02.17|+00.92|-01.10.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8969113a4f9de9654ec374a1627c5a332946b9dca3e9e6026989a9adab53f7ef +size 680478 diff --git a/train/FloorPlan23/31/semantic_0.png b/train/FloorPlan23/31/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3628f4335f4f3562ad2c80ccac642c6f8dd916c2 Binary files /dev/null and b/train/FloorPlan23/31/semantic_0.png differ diff --git a/train/FloorPlan23/31/semantic_1.png b/train/FloorPlan23/31/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..1b1b524d7adf02ad7acafdf8cb272f0fe2b05e31 Binary files /dev/null and b/train/FloorPlan23/31/semantic_1.png differ diff --git a/train/FloorPlan23/39/0.json b/train/FloorPlan23/39/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fb9aa988bf4b4f2b231164fea0718653e948df54 --- /dev/null +++ b/train/FloorPlan23/39/0.json @@ -0,0 +1,2462 @@ +{ + "object": [ + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "object_info": { + "name": "Cabinet_b8c26787", + "position": { + "x": -0.8778074383735657, + "y": 0.3888453543186188, + "z": -3.422300100326538 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.647717237472534, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6206655502319336, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.739914894104004 + ] + ], + "center": { + "x": -0.749236524105072, + "y": 0.3888453245162964, + "z": -3.5777101516723633 + }, + "size": { + "x": 0.25714194774627686, + "y": 0.6573984622955322, + "z": 0.32440948486328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.0, + "y": 0.9009994864463806, + "z": -2.3000001907348633 + }, + "agent_rotation": { + "x": -0.0, + "y": 214.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.0, + "y": 1.5759994983673096, + "z": -2.3000001907348633 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Plate|-02.12|+00.92|-02.42", + "DiningTable|-02.43|+00.00|-01.69", + "CounterTop|-00.30|+00.95|-02.79", + "Cup|-02.44|+00.92|-02.36" + ], + "different_object": [ + "StoveBurner|-01.52|+00.93|-03.75", + "Window|-02.50|+01.78|-04.19", + "Cabinet|-01.76|+02.14|-03.69", + "Drawer|-00.75|+00.78|-03.55", + "Microwave|-01.32|+01.52|-03.80", + "SaltShaker|-00.83|+00.90|-03.77", + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "StoveBurner|-01.52|+00.93|-03.50", + "StoveBurner|-01.13|+00.93|-03.75", + "Cabinet|-00.88|+02.14|-03.69", + "Bread|-00.41|+00.95|-03.63", + "GarbageCan|-01.94|00.00|-03.76", + "Blinds|-02.54|+02.70|-03.96", + "Cabinet|-00.88|+00.39|-03.42" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/39/0_depth_npy.npy b/train/FloorPlan23/39/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a25b64d6727fbf87d54cddef833ab0583e91765e --- /dev/null +++ b/train/FloorPlan23/39/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7079350391f5f15ad445d9af08f775b22c3109f31a35a6794466e59f5b2f8ed6 +size 3145856 diff --git a/train/FloorPlan23/39/0_semantic_sensor_npy.npy b/train/FloorPlan23/39/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..077bb5fad78b64d05c91e775d1989aceb9e46da0 --- /dev/null +++ b/train/FloorPlan23/39/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:249efd7a974dbe36bd55955361dd91f061c5969c1b3b412c6d495837d68bc2a0 +size 2359424 diff --git a/train/FloorPlan23/39/1.json b/train/FloorPlan23/39/1.json new file mode 100644 index 0000000000000000000000000000000000000000..33cd201cb24804e3edd73095435a25026fd60998 --- /dev/null +++ b/train/FloorPlan23/39/1.json @@ -0,0 +1,4079 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.15|-01.69", + "object_info": { + "name": "Shelf_56e7d2ea", + "position": { + "x": -2.432276487350464, + "y": 0.15027305483818054, + "z": -1.6942251920700073 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.5205506086349487, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.15|-01.69", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0256943702697754, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -2.5611023902893066 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.25202104449272156, + "z": -1.6942222118377686 + }, + "size": { + "x": 0.8131651878356934, + "y": 0.20350056886672974, + "z": 1.7337603569030762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "object_info": { + "name": "LightSwitch_5e61d7a6", + "position": { + "x": -4.323999881744385, + "y": 1.319000005722046, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.475703239440918, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -4.280065059661865, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.280065059661865, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.2377760410308838, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.2377760410308838, + -0.033031947910785675 + ] + ], + "center": { + "x": -4.323999881744385, + "y": 1.3201357126235962, + "z": -0.01651597023010254 + }, + "size": { + "x": 0.08786964416503906, + "y": 0.1647193431854248, + "z": 0.03303195536136627 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Potato|-02.08|+00.95|-01.60", + "object_info": { + "name": "Potato_097cac87", + "position": { + "x": -2.0824663639068604, + "y": 0.9517925977706909, + "z": -1.595628023147583 + }, + "rotation": { + "x": 0.09599222987890244, + "y": 295.7773132324219, + "z": 0.3481499254703522 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": true, + "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": 0.18000000715255737, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.42998206615448, + "objectType": "Potato", + "objectId": "Potato|-02.08|+00.95|-01.60", + "assetId": "Potato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0365054607391357, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.6359621286392212 + ] + ], + "center": { + "x": -2.084045886993408, + "y": 0.9514029026031494, + "z": -1.5954636335372925 + }, + "size": { + "x": 0.09508085250854492, + "y": 0.0678938627243042, + "z": 0.08099699020385742 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.11331844329834, + 0.9176058173179626, + -1.5434285402297974 + ], + [ + -2.1428205966949463, + 0.9171935319900513, + -1.6045199632644653 + ], + [ + -2.0544910430908203, + 0.9173579216003418, + -1.64717698097229 + ], + [ + -2.024988889694214, + 0.9177701473236084, + -1.586085557937622 + ], + [ + -2.113600015640259, + 0.9854477643966675, + -1.5437504053115845 + ], + [ + -2.1431021690368652, + 0.9850355386734009, + -1.6048418283462524 + ], + [ + -2.0547726154327393, + 0.9851998686790466, + -1.6474988460540771 + ], + [ + -2.025270462036133, + 0.985612154006958, + -1.5864073038101196 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -3.299999952316284, + "y": 0.9009994268417358, + "z": -2.700000047683716 + }, + "agent_rotation": { + "x": -0.0, + "y": 26.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -3.299999952316284, + "y": 1.5759994983673096, + "z": -2.700000047683716 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Plate|-02.12|+00.92|-02.42", + "DiningTable|-02.43|+00.00|-01.69", + "CounterTop|-00.30|+00.95|-02.79", + "Cup|-02.44|+00.92|-02.36" + ], + "different_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Apple|-02.66|+00.97|-01.55", + "Bowl|-02.75|+00.92|-01.17", + "Shelf|-02.43|+00.15|-01.69", + "Bottle|-02.70|+00.92|-00.88", + "Pencil|-02.22|+00.92|-00.86", + "Sink|-00.35|+00.91|-02.01", + "Pot|-02.24|+00.92|-01.88", + "Pan|-02.17|+00.92|-01.10", + "Faucet|-00.08|+00.90|-02.03", + "LightSwitch|-04.32|+01.32|+00.00", + "Tomato|-02.67|+00.98|-02.01", + "Cabinet|-00.58|+00.39|-02.20", + "Pen|-02.33|+00.92|-00.89", + "Cabinet|-00.31|+02.14|-01.54", + "Chair|-03.24|+00.00|-01.25", + "Knife|-02.27|+00.92|-02.14", + "DishSponge|-00.07|+00.91|-01.69", + "Lettuce|-02.62|+01.01|-01.73", + "Cabinet|-00.58|+00.39|-01.80", + "WineBottle|-02.44|+00.92|-02.14", + "Cabinet|-00.31|+02.14|-02.48", + "Mug|-02.59|+00.92|-02.31", + "Shelf|-02.43|+00.52|-01.69", + "Potato|-02.08|+00.95|-01.60" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/39/1_depth_npy.npy b/train/FloorPlan23/39/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6d35391bf9539a6408643c509ce20671e2042ee8 --- /dev/null +++ b/train/FloorPlan23/39/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7589708ed26658306a40764c77be0fc7613526cadff95dc9e562d50ede9ef0ad +size 3145856 diff --git a/train/FloorPlan23/39/1_semantic_sensor_npy.npy b/train/FloorPlan23/39/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fb652cd2f3b47164c131344e0b1a794dc50986ee --- /dev/null +++ b/train/FloorPlan23/39/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d931024c6d73f8365dd733886ac7bad48e135ae569dd6d9b0815d61a4a88f20 +size 2359424 diff --git a/train/FloorPlan23/39/depth_0.png b/train/FloorPlan23/39/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..156a5130dbb70817460c281f1208d04c2a55c0e6 Binary files /dev/null and b/train/FloorPlan23/39/depth_0.png differ diff --git a/train/FloorPlan23/39/depth_1.png b/train/FloorPlan23/39/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f338d7f5b897a4b745c569203faffdba051f1de1 Binary files /dev/null and b/train/FloorPlan23/39/depth_1.png differ diff --git a/train/FloorPlan23/39/mask_questions.jsonl b/train/FloorPlan23/39/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2eaf2295e952e17be53679fb7592a29ab2f7b6a5 --- /dev/null +++ b/train/FloorPlan23/39/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 15376, "folder_dir": "FloorPlan23/39", "pair_name": "0-1:Plate|-02.12|+00.92|-02.42", "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. Cabinet\nC. Plate\nD. DiningTable", "answer": "C", "object_name": "Plate", "image_1": "FloorPlan23/39/rgb_0.png", "image_2": "FloorPlan23/39/rgb_1.png", "mask_image": "FloorPlan23/39/rgb_1_mask_Plate|-02.12|+00.92|-02.42.png", "options": ["Window", "Cabinet", "Plate", "DiningTable"]} +{"id": 15377, "folder_dir": "FloorPlan23/39", "pair_name": "0-1:Cup|-02.44|+00.92|-02.36", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plate\nB. SaltShaker\nC. Cup\nD. StoveBurner", "answer": "C", "object_name": "Cup", "image_1": "FloorPlan23/39/rgb_0.png", "image_2": "FloorPlan23/39/rgb_1.png", "mask_image": "FloorPlan23/39/rgb_1_mask_Cup|-02.44|+00.92|-02.36.png", "options": ["Plate", "SaltShaker", "Cup", "StoveBurner"]} +{"id": 15378, "folder_dir": "FloorPlan23/39", "pair_name": "1-0:Plate|-02.12|+00.92|-02.42", "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. DiningTable\nC. Pot\nD. Plate", "answer": "D", "object_name": "Plate", "image_1": "FloorPlan23/39/rgb_1.png", "image_2": "FloorPlan23/39/rgb_0.png", "mask_image": "FloorPlan23/39/rgb_0_mask_Plate|-02.12|+00.92|-02.42.png", "options": ["Chair", "DiningTable", "Pot", "Plate"]} diff --git a/train/FloorPlan23/39/questions_distance.jsonl b/train/FloorPlan23/39/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22b03fc70c016fda997b840d17fb7633ffb0f427 --- /dev/null +++ b/train/FloorPlan23/39/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4581, "folder_dir": "FloorPlan23/39", "query": "Which of the following objects is closest to Plate in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cup\nB. WineBottle\nC. Knife\nD. Other\n", "answer": "A", "src_object": "Plate", "target_object": "Cup", "question": "Which of the following objects is closest to Plate in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Cup", "semantic_id": "Cup|-02.44|+00.92|-02.36", "distance": 0.3265838215924471, "com": {"x": -2.437039852142334, "y": 0.9824916124343872, "z": -2.360882043838501}}, {"text": "WineBottle", "semantic_id": "WineBottle|-02.44|+00.92|-02.14", "distance": 0.4545081928174251, "com": {"x": -2.4438514709472656, "y": 1.0804027318954468, "z": -2.1424612998962402}}, {"text": "Knife", "semantic_id": "Knife|-02.27|+00.92|-02.14", "distance": 0.33345264874833613, "com": {"x": -2.2434728145599365, "y": 0.9244518876075745, "z": -2.112790584564209}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/39/rgb_0.png", "image_2": "FloorPlan23/39/rgb_1.png"} +{"id": 4582, "folder_dir": "FloorPlan23/39", "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. Lettuce\nB. Pot\nC. Apple\nD. Other\n", "answer": "A", "src_object": "DiningTable", "target_object": "Lettuce", "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": "Lettuce", "semantic_id": "Lettuce|-02.62|+01.01|-01.73", "distance": 0.5853301333959219, "com": {"x": -2.620821714401245, "y": 1.0096420049667358, "z": -1.7274253368377686}}, {"text": "Pot", "semantic_id": "Pot|-02.24|+00.92|-01.88", "distance": 0.5858293435623843, "com": {"x": -2.238513231277466, "y": 0.9807913899421692, "z": -1.8819752931594849}}, {"text": "Apple", "semantic_id": "Apple|-02.66|+00.97|-01.55", "distance": 0.58665562724534, "com": {"x": -2.66848087310791, "y": 0.9702385067939758, "z": -1.5395169258117676}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/39/rgb_0.png", "image_2": "FloorPlan23/39/rgb_1.png"} diff --git a/train/FloorPlan23/39/rgb_0.png b/train/FloorPlan23/39/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..21c36f0e9a11bf8229b5e49ce68ba1149d886215 --- /dev/null +++ b/train/FloorPlan23/39/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8a06ed638d859d2122f5bf85f7e6d2af1240e17f540494f462a8a219178f30a +size 770321 diff --git a/train/FloorPlan23/39/rgb_0_mask_Plate|-02.12|+00.92|-02.42.png b/train/FloorPlan23/39/rgb_0_mask_Plate|-02.12|+00.92|-02.42.png new file mode 100644 index 0000000000000000000000000000000000000000..b3635ccf4e5b7c08a1454cde500256dd1235aaa9 --- /dev/null +++ b/train/FloorPlan23/39/rgb_0_mask_Plate|-02.12|+00.92|-02.42.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10c8648897405fd2f3515e1b7a5eb46098aedcaf21b0e4485a17de1199721474 +size 671348 diff --git a/train/FloorPlan23/39/rgb_1.png b/train/FloorPlan23/39/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d69a310c6874edb826e5423c2b3b9801c81710a5 --- /dev/null +++ b/train/FloorPlan23/39/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ee2cf2beea8a63e10bdad61a67ba0d8c79144c67233fadaf14fa337ec0fef9c +size 823049 diff --git a/train/FloorPlan23/39/rgb_1_mask_Cup|-02.44|+00.92|-02.36.png b/train/FloorPlan23/39/rgb_1_mask_Cup|-02.44|+00.92|-02.36.png new file mode 100644 index 0000000000000000000000000000000000000000..e97155f9a4c8fb74348f256c350c67fa3ee06615 --- /dev/null +++ b/train/FloorPlan23/39/rgb_1_mask_Cup|-02.44|+00.92|-02.36.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1649f6a486537e90bdce7442757b1540a41ceebe4591fe805855915c59b874d4 +size 714108 diff --git a/train/FloorPlan23/39/rgb_1_mask_Plate|-02.12|+00.92|-02.42.png b/train/FloorPlan23/39/rgb_1_mask_Plate|-02.12|+00.92|-02.42.png new file mode 100644 index 0000000000000000000000000000000000000000..035154739468077413deaa3b717cec477dd796c4 --- /dev/null +++ b/train/FloorPlan23/39/rgb_1_mask_Plate|-02.12|+00.92|-02.42.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c212b3f52327b1f0cdb7b03ccf57bb382027b00b36b3acb40f043747a516df83 +size 711870 diff --git a/train/FloorPlan23/39/semantic_0.png b/train/FloorPlan23/39/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..17ad0b88abfdb29f59c6bfc8b008a1b608093212 Binary files /dev/null and b/train/FloorPlan23/39/semantic_0.png differ diff --git a/train/FloorPlan23/39/semantic_1.png b/train/FloorPlan23/39/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..72926ad87f6aec9a66f14a63f21386e8834bdfaf Binary files /dev/null and b/train/FloorPlan23/39/semantic_1.png differ diff --git a/train/FloorPlan23/4/0.json b/train/FloorPlan23/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..a069472b399e11739ebbe2f765802fced8d96feb --- /dev/null +++ b/train/FloorPlan23/4/0.json @@ -0,0 +1,6369 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "object_info": { + "name": "Cabinet_b8c26787", + "position": { + "x": -0.8778074383735657, + "y": 0.3888453543186188, + "z": -3.422300100326538 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.647717237472534, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6206655502319336, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.739914894104004 + ] + ], + "center": { + "x": -0.749236524105072, + "y": 0.3888453245162964, + "z": -3.5777101516723633 + }, + "size": { + "x": 0.25714194774627686, + "y": 0.6573984622955322, + "z": 0.32440948486328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Potato|-02.08|+00.95|-01.60", + "object_info": { + "name": "Potato_097cac87", + "position": { + "x": -2.0824663639068604, + "y": 0.9517925977706909, + "z": -1.595628023147583 + }, + "rotation": { + "x": 0.09599222987890244, + "y": 295.7773132324219, + "z": 0.3481499254703522 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": true, + "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": 0.18000000715255737, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.42998206615448, + "objectType": "Potato", + "objectId": "Potato|-02.08|+00.95|-01.60", + "assetId": "Potato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0365054607391357, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.6359621286392212 + ] + ], + "center": { + "x": -2.084045886993408, + "y": 0.9514029026031494, + "z": -1.5954636335372925 + }, + "size": { + "x": 0.09508085250854492, + "y": 0.0678938627243042, + "z": 0.08099699020385742 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.11331844329834, + 0.9176058173179626, + -1.5434285402297974 + ], + [ + -2.1428205966949463, + 0.9171935319900513, + -1.6045199632644653 + ], + [ + -2.0544910430908203, + 0.9173579216003418, + -1.64717698097229 + ], + [ + -2.024988889694214, + 0.9177701473236084, + -1.586085557937622 + ], + [ + -2.113600015640259, + 0.9854477643966675, + -1.5437504053115845 + ], + [ + -2.1431021690368652, + 0.9850355386734009, + -1.6048418283462524 + ], + [ + -2.0547726154327393, + 0.9851998686790466, + -1.6474988460540771 + ], + [ + -2.025270462036133, + 0.985612154006958, + -1.5864073038101196 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.299999952316284, + "y": 0.9009994864463806, + "z": -0.30000001192092896 + }, + "agent_rotation": { + "x": -0.0, + "y": 178.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.299999952316284, + "y": 1.5759994983673096, + "z": -0.30000001192092896 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Cabinet|-00.58|+00.39|-02.20", + "Cabinet|-00.31|+02.14|-01.54", + "Apple|-02.66|+00.97|-01.55", + "Chair|-03.24|+00.00|-01.25", + "Bowl|-02.75|+00.92|-01.17", + "Pot|-02.24|+00.92|-01.88", + "CounterTop|-00.30|+00.95|-02.79", + "Cabinet|-00.58|+00.39|-01.80", + "Cabinet|-00.31|+02.14|-02.48", + "Bottle|-02.70|+00.92|-00.88", + "DiningTable|-02.43|+00.00|-01.69", + "Potato|-02.08|+00.95|-01.60", + "Pan|-02.17|+00.92|-01.10", + "Lettuce|-02.62|+01.01|-01.73", + "Faucet|-00.08|+00.90|-02.03", + "Sink|-00.35|+00.91|-02.01" + ], + "different_object": [ + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "StoveBurner|-01.52|+00.93|-03.75", + "Drawer|-00.75|+00.78|-03.55", + "ButterKnife|-00.31|+00.91|-03.44", + "SaltShaker|-00.83|+00.90|-03.77", + "Cup|-02.44|+00.92|-02.36", + "Sink|-00.35|+00.91|-02.01|SinkBasin", + "Chair|-03.26|+00.00|-02.09", + "Tomato|-02.67|+00.98|-02.01", + "Blinds|-02.54|+02.70|-03.96", + "Window|-02.50|+01.78|-04.19", + "Cabinet|-01.76|+02.14|-03.69", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.52|+00.93|-03.50", + "Drawer|-00.45|+00.78|-03.27", + "StoveBurner|-01.13|+00.93|-03.75", + "GarbageCan|-01.94|00.00|-03.76", + "PepperShaker|-00.44|+00.90|-03.35", + "WineBottle|-02.44|+00.92|-02.14", + "Toaster|-00.18|+00.90|-02.76", + "Plate|-02.12|+00.92|-02.42", + "Mug|-02.59|+00.92|-02.31", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.58|+00.39|-03.40", + "Cabinet|-00.88|+02.14|-03.69", + "Spatula|-00.30|+00.91|-02.54", + "Cabinet|-00.88|+00.39|-03.42" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/4/0_depth_npy.npy b/train/FloorPlan23/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..51270a22669fd878b1781b632a0fa20a10cb0b98 --- /dev/null +++ b/train/FloorPlan23/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:047ba81be7f58e1b98111bde30edd02d90880e855eda8e50538165bbc8bcf053 +size 3145856 diff --git a/train/FloorPlan23/4/0_semantic_sensor_npy.npy b/train/FloorPlan23/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0dc9858a118d69fbe3e9d6437abe0ae0ae380f75 --- /dev/null +++ b/train/FloorPlan23/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ced11d3eaeb0d656749cf26c930160a8eac9ded92c50aba860917051f7b69f63 +size 2359424 diff --git a/train/FloorPlan23/4/1.json b/train/FloorPlan23/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..317055dd58d5b6f5d33cf1908f772c94257410a7 --- /dev/null +++ b/train/FloorPlan23/4/1.json @@ -0,0 +1,2922 @@ +{ + "object": [ + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Potato|-02.08|+00.95|-01.60", + "object_info": { + "name": "Potato_097cac87", + "position": { + "x": -2.0824663639068604, + "y": 0.9517925977706909, + "z": -1.595628023147583 + }, + "rotation": { + "x": 0.09599222987890244, + "y": 295.7773132324219, + "z": 0.3481499254703522 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": true, + "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": 0.18000000715255737, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.42998206615448, + "objectType": "Potato", + "objectId": "Potato|-02.08|+00.95|-01.60", + "assetId": "Potato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0365054607391357, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.6359621286392212 + ] + ], + "center": { + "x": -2.084045886993408, + "y": 0.9514029026031494, + "z": -1.5954636335372925 + }, + "size": { + "x": 0.09508085250854492, + "y": 0.0678938627243042, + "z": 0.08099699020385742 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.11331844329834, + 0.9176058173179626, + -1.5434285402297974 + ], + [ + -2.1428205966949463, + 0.9171935319900513, + -1.6045199632644653 + ], + [ + -2.0544910430908203, + 0.9173579216003418, + -1.64717698097229 + ], + [ + -2.024988889694214, + 0.9177701473236084, + -1.586085557937622 + ], + [ + -2.113600015640259, + 0.9854477643966675, + -1.5437504053115845 + ], + [ + -2.1431021690368652, + 0.9850355386734009, + -1.6048418283462524 + ], + [ + -2.0547726154327393, + 0.9851998686790466, + -1.6474988460540771 + ], + [ + -2.025270462036133, + 0.985612154006958, + -1.5864073038101196 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -3.799999952316284, + "y": 0.9009994864463806, + "z": -1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 45.999996185302734, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -3.799999952316284, + "y": 1.5759994983673096, + "z": -1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Cabinet|-00.58|+00.39|-02.20", + "Cabinet|-00.31|+02.14|-01.54", + "Apple|-02.66|+00.97|-01.55", + "Chair|-03.24|+00.00|-01.25", + "Bowl|-02.75|+00.92|-01.17", + "Pot|-02.24|+00.92|-01.88", + "CounterTop|-00.30|+00.95|-02.79", + "Cabinet|-00.58|+00.39|-01.80", + "Cabinet|-00.31|+02.14|-02.48", + "Bottle|-02.70|+00.92|-00.88", + "DiningTable|-02.43|+00.00|-01.69", + "Potato|-02.08|+00.95|-01.60", + "Pan|-02.17|+00.92|-01.10", + "Lettuce|-02.62|+01.01|-01.73", + "Faucet|-00.08|+00.90|-02.03", + "Sink|-00.35|+00.91|-02.01" + ], + "different_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Pen|-02.33|+00.92|-00.89", + "Shelf|-02.43|+00.52|-01.69", + "DishSponge|-00.07|+00.91|-01.69", + "Pencil|-02.22|+00.92|-00.86" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/4/1_depth_npy.npy b/train/FloorPlan23/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c556da63e12627de49b097a43263b2e4d0026336 --- /dev/null +++ b/train/FloorPlan23/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:911c7f8f5d51ad78e42899d29fc4440f0c3757dff446f0592a8a7a56f8519a02 +size 3145856 diff --git a/train/FloorPlan23/4/1_semantic_sensor_npy.npy b/train/FloorPlan23/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..30b27100961a2507aaf6d65836d282444985bdac --- /dev/null +++ b/train/FloorPlan23/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2550777badf807bb8e8c43db9fb0d3fea587ac2c39d96f799089935c66181d5 +size 2359424 diff --git a/train/FloorPlan23/4/depth_0.png b/train/FloorPlan23/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..25d92523a48b2a6ed5e5e81813a4b8235d86ba0e Binary files /dev/null and b/train/FloorPlan23/4/depth_0.png differ diff --git a/train/FloorPlan23/4/depth_1.png b/train/FloorPlan23/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..3ad50aaa470d35e909c1fb1d9cc7674fc6b6f56d Binary files /dev/null and b/train/FloorPlan23/4/depth_1.png differ diff --git a/train/FloorPlan23/4/mask_questions.jsonl b/train/FloorPlan23/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c9b933b9cd9aab2d874737b939b4616cffd9ed9 --- /dev/null +++ b/train/FloorPlan23/4/mask_questions.jsonl @@ -0,0 +1,11 @@ +{"id": 15397, "folder_dir": "FloorPlan23/4", "pair_name": "0-1:Cabinet|-00.31|+02.14|-01.54", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Cabinet\nC. Mug\nD. Spatula", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/4/rgb_0.png", "image_2": "FloorPlan23/4/rgb_1.png", "mask_image": "FloorPlan23/4/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png", "options": ["Cabinet", "Cabinet", "Mug", "Spatula"]} +{"id": 15398, "folder_dir": "FloorPlan23/4", "pair_name": "0-1:Bowl|-02.75|+00.92|-01.17", "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. Bowl\nB. Spatula\nC. Cabinet\nD. Tomato", "answer": "A", "object_name": "Bowl", "image_1": "FloorPlan23/4/rgb_0.png", "image_2": "FloorPlan23/4/rgb_1.png", "mask_image": "FloorPlan23/4/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png", "options": ["Bowl", "Spatula", "Cabinet", "Tomato"]} +{"id": 15399, "folder_dir": "FloorPlan23/4", "pair_name": "0-1:Bottle|-02.70|+00.92|-00.88", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plate\nB. Cabinet\nC. Toaster\nD. Bottle", "answer": "D", "object_name": "Bottle", "image_1": "FloorPlan23/4/rgb_0.png", "image_2": "FloorPlan23/4/rgb_1.png", "mask_image": "FloorPlan23/4/rgb_1_mask_Bottle|-02.70|+00.92|-00.88.png", "options": ["Plate", "Cabinet", "Toaster", "Bottle"]} +{"id": 15400, "folder_dir": "FloorPlan23/4", "pair_name": "0-1:Pan|-02.17|+00.92|-01.10", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plate\nB. SaltShaker\nC. Pan\nD. Cabinet", "answer": "C", "object_name": "Pan", "image_1": "FloorPlan23/4/rgb_0.png", "image_2": "FloorPlan23/4/rgb_1.png", "mask_image": "FloorPlan23/4/rgb_1_mask_Pan|-02.17|+00.92|-01.10.png", "options": ["Plate", "SaltShaker", "Pan", "Cabinet"]} +{"id": 15401, "folder_dir": "FloorPlan23/4", "pair_name": "0-1:Lettuce|-02.62|+01.01|-01.73", "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. StoveBurner\nB. Lettuce\nC. Cabinet\nD. StoveBurner", "answer": "B", "object_name": "Lettuce", "image_1": "FloorPlan23/4/rgb_0.png", "image_2": "FloorPlan23/4/rgb_1.png", "mask_image": "FloorPlan23/4/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png", "options": ["StoveBurner", "Lettuce", "Cabinet", "StoveBurner"]} +{"id": 15402, "folder_dir": "FloorPlan23/4", "pair_name": "1-0:Cabinet|-00.31|+02.14|-01.54", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Cabinet\nC. Fridge\nD. DishSponge", "answer": "A", "object_name": "Cabinet", "image_1": "FloorPlan23/4/rgb_1.png", "image_2": "FloorPlan23/4/rgb_0.png", "mask_image": "FloorPlan23/4/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png", "options": ["Cabinet", "Cabinet", "Fridge", "DishSponge"]} +{"id": 15403, "folder_dir": "FloorPlan23/4", "pair_name": "1-0:Bowl|-02.75|+00.92|-01.17", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Shelf\nC. DishSponge\nD. Bowl", "answer": "D", "object_name": "Bowl", "image_1": "FloorPlan23/4/rgb_1.png", "image_2": "FloorPlan23/4/rgb_0.png", "mask_image": "FloorPlan23/4/rgb_0_mask_Bowl|-02.75|+00.92|-01.17.png", "options": ["Cabinet", "Shelf", "DishSponge", "Bowl"]} +{"id": 15404, "folder_dir": "FloorPlan23/4", "pair_name": "1-0:Cabinet|-00.58|+00.39|-01.80", "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. Shelf\nB. Pen\nC. Cabinet\nD. Cabinet", "answer": "C", "object_name": "Cabinet", "image_1": "FloorPlan23/4/rgb_1.png", "image_2": "FloorPlan23/4/rgb_0.png", "mask_image": "FloorPlan23/4/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png", "options": ["Shelf", "Pen", "Cabinet", "Cabinet"]} +{"id": 15405, "folder_dir": "FloorPlan23/4", "pair_name": "1-0:Bottle|-02.70|+00.92|-00.88", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pencil\nB. Pen\nC. Cabinet\nD. Bottle", "answer": "D", "object_name": "Bottle", "image_1": "FloorPlan23/4/rgb_1.png", "image_2": "FloorPlan23/4/rgb_0.png", "mask_image": "FloorPlan23/4/rgb_0_mask_Bottle|-02.70|+00.92|-00.88.png", "options": ["Pencil", "Pen", "Cabinet", "Bottle"]} +{"id": 15406, "folder_dir": "FloorPlan23/4", "pair_name": "1-0:Pan|-02.17|+00.92|-01.10", "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. Pan\nB. Fridge\nC. Shelf\nD. Cabinet", "answer": "A", "object_name": "Pan", "image_1": "FloorPlan23/4/rgb_1.png", "image_2": "FloorPlan23/4/rgb_0.png", "mask_image": "FloorPlan23/4/rgb_0_mask_Pan|-02.17|+00.92|-01.10.png", "options": ["Pan", "Fridge", "Shelf", "Cabinet"]} +{"id": 15407, "folder_dir": "FloorPlan23/4", "pair_name": "1-0:Lettuce|-02.62|+01.01|-01.73", "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. Cabinet\nC. Lettuce\nD. Pen", "answer": "C", "object_name": "Lettuce", "image_1": "FloorPlan23/4/rgb_1.png", "image_2": "FloorPlan23/4/rgb_0.png", "mask_image": "FloorPlan23/4/rgb_0_mask_Lettuce|-02.62|+01.01|-01.73.png", "options": ["Fridge", "Cabinet", "Lettuce", "Pen"]} diff --git a/train/FloorPlan23/4/questions_distance.jsonl b/train/FloorPlan23/4/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b76d6e6a67a2e558d95c64af81b89685e20be82 --- /dev/null +++ b/train/FloorPlan23/4/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4588, "folder_dir": "FloorPlan23/4", "query": "Which of the following objects is closest to Bowl 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. Apple\nC. Bottle\nD. Other\n", "answer": "C", "src_object": "Bowl", "target_object": "Bottle", "question": "Which of the following objects is closest to Bowl 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|-02.33|+00.92|-00.89", "distance": 0.5071851630664753, "com": {"x": -2.3353943824768066, "y": 0.9231058955192566, "z": -0.8915949463844299}}, {"text": "Apple", "semantic_id": "Apple|-02.66|+00.97|-01.55", "distance": 0.3750482049647244, "com": {"x": -2.66848087310791, "y": 0.9702385067939758, "z": -1.5395169258117676}}, {"text": "Bottle", "semantic_id": "Bottle|-02.70|+00.92|-00.88", "distance": 0.30837239235200536, "com": {"x": -2.70222806930542, "y": 1.0442383289337158, "z": -0.881843090057373}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/4/rgb_0.png", "image_2": "FloorPlan23/4/rgb_1.png"} +{"id": 4589, "folder_dir": "FloorPlan23/4", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pot\nB. Shelf\nC. Lettuce\nD. Other\n", "answer": "B", "src_object": "DiningTable", "target_object": "Shelf", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pot", "semantic_id": "Pot|-02.24|+00.92|-01.88", "distance": 0.5858293435623843, "com": {"x": -2.238513231277466, "y": 0.9807913899421692, "z": -1.8819752931594849}}, {"text": "Shelf", "semantic_id": "Shelf|-02.43|+00.52|-01.69", "distance": 0.16670646135954628, "com": {"x": -2.432276964187622, "y": 0.6253209710121155, "z": -1.6942224502563477}}, {"text": "Lettuce", "semantic_id": "Lettuce|-02.62|+01.01|-01.73", "distance": 0.5853301333959219, "com": {"x": -2.620821714401245, "y": 1.0096420049667358, "z": -1.7274253368377686}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/4/rgb_0.png", "image_2": "FloorPlan23/4/rgb_1.png"} diff --git a/train/FloorPlan23/4/rgb_0.png b/train/FloorPlan23/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a49c4ba5d79e094210abb7b89c48324260f39911 --- /dev/null +++ b/train/FloorPlan23/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e2f247ac5757f8eafcbd53f6319bdd62004c191945702d40cc310f0d9fb92c2 +size 796040 diff --git a/train/FloorPlan23/4/rgb_0_mask_Bottle|-02.70|+00.92|-00.88.png b/train/FloorPlan23/4/rgb_0_mask_Bottle|-02.70|+00.92|-00.88.png new file mode 100644 index 0000000000000000000000000000000000000000..427aacfb8347d9b1ed8abf1e3b275d1407c67f0b --- /dev/null +++ b/train/FloorPlan23/4/rgb_0_mask_Bottle|-02.70|+00.92|-00.88.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:102e8af52484d9d1e0174f0da1085649c2be6b62301a9b3bb7b6a892d8337330 +size 688433 diff --git a/train/FloorPlan23/4/rgb_0_mask_Bowl|-02.75|+00.92|-01.17.png b/train/FloorPlan23/4/rgb_0_mask_Bowl|-02.75|+00.92|-01.17.png new file mode 100644 index 0000000000000000000000000000000000000000..5a3b46107b7cfc1d07fcf32cd770c0e06b23edd1 --- /dev/null +++ b/train/FloorPlan23/4/rgb_0_mask_Bowl|-02.75|+00.92|-01.17.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:455e8ff5a943c063e0174b418975b90b00e5df15374200ca831e53ce0886c5ab +size 694320 diff --git a/train/FloorPlan23/4/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png b/train/FloorPlan23/4/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png new file mode 100644 index 0000000000000000000000000000000000000000..c39d1906b3145c48002cd571dcb779483eba1a39 --- /dev/null +++ b/train/FloorPlan23/4/rgb_0_mask_Cabinet|-00.31|+02.14|-01.54.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d822cecfde8f2169ff44347ca7cbab1a83508b800900b4a2609e99ce2cd512f6 +size 694671 diff --git a/train/FloorPlan23/4/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png b/train/FloorPlan23/4/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png new file mode 100644 index 0000000000000000000000000000000000000000..35d3e3aabd771fcb08de3f0f62750039095ff1b7 --- /dev/null +++ b/train/FloorPlan23/4/rgb_0_mask_Cabinet|-00.58|+00.39|-01.80.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3e57ecaab2da4a30d01288efe6819f7acfd05184dafe399b67d7c03367e8c5f +size 687239 diff --git a/train/FloorPlan23/4/rgb_0_mask_Lettuce|-02.62|+01.01|-01.73.png b/train/FloorPlan23/4/rgb_0_mask_Lettuce|-02.62|+01.01|-01.73.png new file mode 100644 index 0000000000000000000000000000000000000000..dbb173d12180e7579ef1af7f65319f4a4c612b76 --- /dev/null +++ b/train/FloorPlan23/4/rgb_0_mask_Lettuce|-02.62|+01.01|-01.73.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ae51aaa66a8c4f802869929be9f263fb5b4a609fadf94fb613f27d6f59fd9d5 +size 699396 diff --git a/train/FloorPlan23/4/rgb_0_mask_Pan|-02.17|+00.92|-01.10.png b/train/FloorPlan23/4/rgb_0_mask_Pan|-02.17|+00.92|-01.10.png new file mode 100644 index 0000000000000000000000000000000000000000..3834cd463b61637b97fc02578dbd8197e68acaa1 --- /dev/null +++ b/train/FloorPlan23/4/rgb_0_mask_Pan|-02.17|+00.92|-01.10.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8f49df85ceb5f850b88ec5e46c44aa992656e487e374679f913bdeb95dbbe4f +size 678553 diff --git a/train/FloorPlan23/4/rgb_1.png b/train/FloorPlan23/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..74a2047da4987b9b8f1143f614ab32b0e70b3ea5 --- /dev/null +++ b/train/FloorPlan23/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:657a48e648eb6f252f2fe9540b1d2fecaeaca99476c6c1927d10200aa6e199eb +size 822912 diff --git a/train/FloorPlan23/4/rgb_1_mask_Bottle|-02.70|+00.92|-00.88.png b/train/FloorPlan23/4/rgb_1_mask_Bottle|-02.70|+00.92|-00.88.png new file mode 100644 index 0000000000000000000000000000000000000000..a6f4d215f6b2ce75c7990d78367e2f17ae3a92c8 --- /dev/null +++ b/train/FloorPlan23/4/rgb_1_mask_Bottle|-02.70|+00.92|-00.88.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9df2c38ffcf69de515a0a63d876213a789d91f4ff5418178c603b5bdcd29581 +size 717329 diff --git a/train/FloorPlan23/4/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png b/train/FloorPlan23/4/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png new file mode 100644 index 0000000000000000000000000000000000000000..cee6d2c210ae24f665ea89015af9a670d6e97c28 --- /dev/null +++ b/train/FloorPlan23/4/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3fe57f013fabd523777da4aeecfa79ceda84a79b8d62e45799c39d5de683b97 +size 713073 diff --git a/train/FloorPlan23/4/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png b/train/FloorPlan23/4/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png new file mode 100644 index 0000000000000000000000000000000000000000..8146aaac6efa892a2054f64aaa06cc705b92362e --- /dev/null +++ b/train/FloorPlan23/4/rgb_1_mask_Cabinet|-00.31|+02.14|-01.54.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e513ddbd87aacd04775862306ac9d8cff260f779173e7d0488895b9187e384f +size 711692 diff --git a/train/FloorPlan23/4/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png b/train/FloorPlan23/4/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png new file mode 100644 index 0000000000000000000000000000000000000000..b8b6c2e3effcc74f6de654bbde333899ae1bffc5 --- /dev/null +++ b/train/FloorPlan23/4/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3eb71ef0351b975e96093f081e09f9bf847a240e8c42912106a773ad618bb66 +size 714781 diff --git a/train/FloorPlan23/4/rgb_1_mask_Pan|-02.17|+00.92|-01.10.png b/train/FloorPlan23/4/rgb_1_mask_Pan|-02.17|+00.92|-01.10.png new file mode 100644 index 0000000000000000000000000000000000000000..3a81ec1301450eb60f5548dd2428dde17acca83c --- /dev/null +++ b/train/FloorPlan23/4/rgb_1_mask_Pan|-02.17|+00.92|-01.10.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad153c32306450d43ae0040a863879474770fbb0473794495eb017fa9348aacd +size 713596 diff --git a/train/FloorPlan23/4/semantic_0.png b/train/FloorPlan23/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..dc3da6335270cc7d76f5cc537fae5d5c47007e22 Binary files /dev/null and b/train/FloorPlan23/4/semantic_0.png differ diff --git a/train/FloorPlan23/4/semantic_1.png b/train/FloorPlan23/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..fadfb2745ce949580f1f2640c6132f4d94a3f611 Binary files /dev/null and b/train/FloorPlan23/4/semantic_1.png differ diff --git a/train/FloorPlan23/5/0.json b/train/FloorPlan23/5/0.json new file mode 100644 index 0000000000000000000000000000000000000000..86b43b560e741968b6c82b1c719762f68c5e3645 --- /dev/null +++ b/train/FloorPlan23/5/0.json @@ -0,0 +1,3188 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.15|-01.69", + "object_info": { + "name": "Shelf_56e7d2ea", + "position": { + "x": -2.432276487350464, + "y": 0.15027305483818054, + "z": -1.6942251920700073 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.5205506086349487, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.15|-01.69", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0256943702697754, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -2.5611023902893066 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.25202104449272156, + "z": -1.6942222118377686 + }, + "size": { + "x": 0.8131651878356934, + "y": 0.20350056886672974, + "z": 1.7337603569030762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "object_info": { + "name": "LightSwitch_5e61d7a6", + "position": { + "x": -4.323999881744385, + "y": 1.319000005722046, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.475703239440918, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -4.280065059661865, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.280065059661865, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.2377760410308838, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.2377760410308838, + -0.033031947910785675 + ] + ], + "center": { + "x": -4.323999881744385, + "y": 1.3201357126235962, + "z": -0.01651597023010254 + }, + "size": { + "x": 0.08786964416503906, + "y": 0.1647193431854248, + "z": 0.03303195536136627 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Potato|-02.08|+00.95|-01.60", + "object_info": { + "name": "Potato_097cac87", + "position": { + "x": -2.0824663639068604, + "y": 0.9517925977706909, + "z": -1.595628023147583 + }, + "rotation": { + "x": 0.09599222987890244, + "y": 295.7773132324219, + "z": 0.3481499254703522 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": true, + "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": 0.18000000715255737, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.42998206615448, + "objectType": "Potato", + "objectId": "Potato|-02.08|+00.95|-01.60", + "assetId": "Potato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0365054607391357, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.6359621286392212 + ] + ], + "center": { + "x": -2.084045886993408, + "y": 0.9514029026031494, + "z": -1.5954636335372925 + }, + "size": { + "x": 0.09508085250854492, + "y": 0.0678938627243042, + "z": 0.08099699020385742 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.11331844329834, + 0.9176058173179626, + -1.5434285402297974 + ], + [ + -2.1428205966949463, + 0.9171935319900513, + -1.6045199632644653 + ], + [ + -2.0544910430908203, + 0.9173579216003418, + -1.64717698097229 + ], + [ + -2.024988889694214, + 0.9177701473236084, + -1.586085557937622 + ], + [ + -2.113600015640259, + 0.9854477643966675, + -1.5437504053115845 + ], + [ + -2.1431021690368652, + 0.9850355386734009, + -1.6048418283462524 + ], + [ + -2.0547726154327393, + 0.9851998686790466, + -1.6474988460540771 + ], + [ + -2.025270462036133, + 0.985612154006958, + -1.5864073038101196 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -0.8999998569488525, + "y": 0.9009994864463806, + "z": -1.100000023841858 + }, + "agent_rotation": { + "x": -0.0, + "y": 277.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -0.8999998569488525, + "y": 1.5759994983673096, + "z": -1.100000023841858 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Knife|-02.27|+00.92|-02.14", + "Apple|-02.66|+00.97|-01.55", + "Pot|-02.24|+00.92|-01.88", + "Plate|-02.12|+00.92|-02.42", + "Mug|-02.59|+00.92|-02.31", + "Cup|-02.44|+00.92|-02.36", + "Shelf|-02.43|+00.52|-01.69", + "Shelf|-02.43|+00.15|-01.69", + "DiningTable|-02.43|+00.00|-01.69", + "Lettuce|-02.62|+01.01|-01.73", + "Chair|-03.26|+00.00|-02.09", + "WineBottle|-02.44|+00.92|-02.14", + "Tomato|-02.67|+00.98|-02.01" + ], + "different_object": [ + "Pen|-02.33|+00.92|-00.89", + "Chair|-03.24|+00.00|-01.25", + "Bowl|-02.75|+00.92|-01.17", + "Bottle|-02.70|+00.92|-00.88", + "Potato|-02.08|+00.95|-01.60", + "Pencil|-02.22|+00.92|-00.86", + "Pan|-02.17|+00.92|-01.10", + "LightSwitch|-04.32|+01.32|+00.00" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/5/0_depth_npy.npy b/train/FloorPlan23/5/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e79dc595a53a18e5fa2c406f37ac30ad7830d6d3 --- /dev/null +++ b/train/FloorPlan23/5/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0a7cba7451815a4bd74ffdcfc371d6a047296f0c619fced4b4f9d420b5a412c +size 3145856 diff --git a/train/FloorPlan23/5/0_semantic_sensor_npy.npy b/train/FloorPlan23/5/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d0d4c9c283a633161036ef5847932646a1831545 --- /dev/null +++ b/train/FloorPlan23/5/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a21f88b0283c36ef26e55d887dfa9b2a863f39fefaf99512b5592347a4273967 +size 2359424 diff --git a/train/FloorPlan23/5/1.json b/train/FloorPlan23/5/1.json new file mode 100644 index 0000000000000000000000000000000000000000..35be52c0c00096f1515450fe82df2adf6d4c2251 --- /dev/null +++ b/train/FloorPlan23/5/1.json @@ -0,0 +1,5853 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "object_info": { + "name": "Cabinet_b8c26787", + "position": { + "x": -0.8778074383735657, + "y": 0.3888453543186188, + "z": -3.422300100326538 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.647717237472534, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6206655502319336, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.739914894104004 + ] + ], + "center": { + "x": -0.749236524105072, + "y": 0.3888453245162964, + "z": -3.5777101516723633 + }, + "size": { + "x": 0.25714194774627686, + "y": 0.6573984622955322, + "z": 0.32440948486328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Shelf|-02.43|+00.15|-01.69", + "object_info": { + "name": "Shelf_56e7d2ea", + "position": { + "x": -2.432276487350464, + "y": 0.15027305483818054, + "z": -1.6942251920700073 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.5205506086349487, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.15|-01.69", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0256943702697754, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -2.5611023902893066 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.25202104449272156, + "z": -1.6942222118377686 + }, + "size": { + "x": 0.8131651878356934, + "y": 0.20350056886672974, + "z": 1.7337603569030762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -4.0, + "y": 0.9009994864463806, + "z": -1.4000000953674316 + }, + "agent_rotation": { + "x": -0.0, + "y": 151.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -4.0, + "y": 1.5759994983673096, + "z": -1.4000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Knife|-02.27|+00.92|-02.14", + "Apple|-02.66|+00.97|-01.55", + "Pot|-02.24|+00.92|-01.88", + "Plate|-02.12|+00.92|-02.42", + "Mug|-02.59|+00.92|-02.31", + "Cup|-02.44|+00.92|-02.36", + "Shelf|-02.43|+00.52|-01.69", + "Shelf|-02.43|+00.15|-01.69", + "DiningTable|-02.43|+00.00|-01.69", + "Lettuce|-02.62|+01.01|-01.73", + "Chair|-03.26|+00.00|-02.09", + "WineBottle|-02.44|+00.92|-02.14", + "Tomato|-02.67|+00.98|-02.01" + ], + "different_object": [ + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Sink|-00.35|+00.91|-02.01", + "StoveBurner|-01.52|+00.93|-03.75", + "Drawer|-00.75|+00.78|-03.55", + "ButterKnife|-00.31|+00.91|-03.44", + "CounterTop|-00.30|+00.95|-02.79", + "SaltShaker|-00.83|+00.90|-03.77", + "Faucet|-00.08|+00.90|-02.03", + "Cabinet|-00.58|+00.39|-02.20", + "Cabinet|-00.31|+02.14|-01.54", + "Window|-02.50|+01.78|-04.19", + "Blinds|-02.54|+02.70|-03.96", + "Cabinet|-01.76|+02.14|-03.69", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.52|+00.93|-03.50", + "Drawer|-00.45|+00.78|-03.27", + "StoveBurner|-01.13|+00.93|-03.75", + "GarbageCan|-01.94|00.00|-03.76", + "PepperShaker|-00.44|+00.90|-03.35", + "Cabinet|-00.58|+00.39|-01.80", + "Toaster|-00.18|+00.90|-02.76", + "Cabinet|-00.31|+02.14|-02.48", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.58|+00.39|-03.40", + "Cabinet|-00.88|+02.14|-03.69", + "Spatula|-00.30|+00.91|-02.54", + "Cabinet|-00.88|+00.39|-03.42" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/5/1_depth_npy.npy b/train/FloorPlan23/5/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9078c04e4effbd253f88505b522f5e20f1ce2f04 --- /dev/null +++ b/train/FloorPlan23/5/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7cbeae7d4bb5fa5e13ef12d75226770c4d059d49d2574583d7ed0804e43e146f +size 3145856 diff --git a/train/FloorPlan23/5/1_semantic_sensor_npy.npy b/train/FloorPlan23/5/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..4e7e1b49bf7baf63462ff968c2f46360ac86c14b --- /dev/null +++ b/train/FloorPlan23/5/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7a3cc29c8eb3ad702c839a2dc7ca875f796d2745e51eb59eb883419dcfd2370 +size 2359424 diff --git a/train/FloorPlan23/5/depth_0.png b/train/FloorPlan23/5/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..8ce2dece1b3c0826242c95b8c5d6bea2cfd5b7ab Binary files /dev/null and b/train/FloorPlan23/5/depth_0.png differ diff --git a/train/FloorPlan23/5/depth_1.png b/train/FloorPlan23/5/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..56ddaa40b29520b86af5a5e8674292dc195f1e8d Binary files /dev/null and b/train/FloorPlan23/5/depth_1.png differ diff --git a/train/FloorPlan23/5/mask_questions.jsonl b/train/FloorPlan23/5/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f8773ded513c89dee967320400749549af04d76 --- /dev/null +++ b/train/FloorPlan23/5/mask_questions.jsonl @@ -0,0 +1,6 @@ +{"id": 15485, "folder_dir": "FloorPlan23/5", "pair_name": "0-1:Shelf|-02.43|+00.15|-01.69", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pencil\nB. Shelf\nC. Pan\nD. Knife", "answer": "B", "object_name": "Shelf", "image_1": "FloorPlan23/5/rgb_0.png", "image_2": "FloorPlan23/5/rgb_1.png", "mask_image": "FloorPlan23/5/rgb_1_mask_Shelf|-02.43|+00.15|-01.69.png", "options": ["Pencil", "Shelf", "Pan", "Knife"]} +{"id": 15486, "folder_dir": "FloorPlan23/5", "pair_name": "0-1:Lettuce|-02.62|+01.01|-01.73", "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. Knife\nB. Pencil\nC. Pen\nD. Lettuce", "answer": "D", "object_name": "Lettuce", "image_1": "FloorPlan23/5/rgb_0.png", "image_2": "FloorPlan23/5/rgb_1.png", "mask_image": "FloorPlan23/5/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png", "options": ["Knife", "Pencil", "Pen", "Lettuce"]} +{"id": 15487, "folder_dir": "FloorPlan23/5", "pair_name": "0-1:WineBottle|-02.44|+00.92|-02.14", "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. LightSwitch\nB. Potato\nC. WineBottle\nD. Knife", "answer": "C", "object_name": "WineBottle", "image_1": "FloorPlan23/5/rgb_0.png", "image_2": "FloorPlan23/5/rgb_1.png", "mask_image": "FloorPlan23/5/rgb_1_mask_WineBottle|-02.44|+00.92|-02.14.png", "options": ["LightSwitch", "Potato", "WineBottle", "Knife"]} +{"id": 15488, "folder_dir": "FloorPlan23/5", "pair_name": "1-0:Shelf|-02.43|+00.15|-01.69", "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. Knife\nB. Cabinet\nC. Sink\nD. Shelf", "answer": "D", "object_name": "Shelf", "image_1": "FloorPlan23/5/rgb_1.png", "image_2": "FloorPlan23/5/rgb_0.png", "mask_image": "FloorPlan23/5/rgb_0_mask_Shelf|-02.43|+00.15|-01.69.png", "options": ["Knife", "Cabinet", "Sink", "Shelf"]} +{"id": 15489, "folder_dir": "FloorPlan23/5", "pair_name": "1-0:Lettuce|-02.62|+01.01|-01.73", "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. StoveBurner\nB. Faucet\nC. Lettuce\nD. Knife", "answer": "C", "object_name": "Lettuce", "image_1": "FloorPlan23/5/rgb_1.png", "image_2": "FloorPlan23/5/rgb_0.png", "mask_image": "FloorPlan23/5/rgb_0_mask_Lettuce|-02.62|+01.01|-01.73.png", "options": ["StoveBurner", "Faucet", "Lettuce", "Knife"]} +{"id": 15490, "folder_dir": "FloorPlan23/5", "pair_name": "1-0:WineBottle|-02.44|+00.92|-02.14", "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. Knife\nB. SoapBottle\nC. WineBottle\nD. Cabinet", "answer": "C", "object_name": "WineBottle", "image_1": "FloorPlan23/5/rgb_1.png", "image_2": "FloorPlan23/5/rgb_0.png", "mask_image": "FloorPlan23/5/rgb_0_mask_WineBottle|-02.44|+00.92|-02.14.png", "options": ["Knife", "SoapBottle", "WineBottle", "Cabinet"]} diff --git a/train/FloorPlan23/5/questions_distance.jsonl b/train/FloorPlan23/5/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7616035169dd83eddad6f1592a4567ee322222d4 --- /dev/null +++ b/train/FloorPlan23/5/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 4605, "folder_dir": "FloorPlan23/5", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pot\nB. Lettuce\nC. Apple\nD. Other\n", "answer": "B", "src_object": "DiningTable", "target_object": "Lettuce", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pot", "semantic_id": "Pot|-02.24|+00.92|-01.88", "distance": 0.5858293435623843, "com": {"x": -2.238513231277466, "y": 0.9807913899421692, "z": -1.8819752931594849}}, {"text": "Lettuce", "semantic_id": "Lettuce|-02.62|+01.01|-01.73", "distance": 0.5853301333959219, "com": {"x": -2.620821714401245, "y": 1.0096420049667358, "z": -1.7274253368377686}}, {"text": "Apple", "semantic_id": "Apple|-02.66|+00.97|-01.55", "distance": 0.58665562724534, "com": {"x": -2.66848087310791, "y": 0.9702385067939758, "z": -1.5395169258117676}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/5/rgb_0.png", "image_2": "FloorPlan23/5/rgb_1.png"} diff --git a/train/FloorPlan23/5/rgb_0.png b/train/FloorPlan23/5/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..baedd6a9af4b88b523b8dd11f9a83e3320d989d6 --- /dev/null +++ b/train/FloorPlan23/5/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a10fe8c20b9577595958ca787ac1f39f2d88711921abafc1632a6d6f660c3c9d +size 784919 diff --git a/train/FloorPlan23/5/rgb_0_mask_Lettuce|-02.62|+01.01|-01.73.png b/train/FloorPlan23/5/rgb_0_mask_Lettuce|-02.62|+01.01|-01.73.png new file mode 100644 index 0000000000000000000000000000000000000000..659d494bd0c80e34f5a80cdf43cffdb7a0df7e8b --- /dev/null +++ b/train/FloorPlan23/5/rgb_0_mask_Lettuce|-02.62|+01.01|-01.73.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5510ff2f6d25f7eedd4b9120dd6104e0e7be7e45e8117c2c5767533a618d1c85 +size 683819 diff --git a/train/FloorPlan23/5/rgb_0_mask_Shelf|-02.43|+00.15|-01.69.png b/train/FloorPlan23/5/rgb_0_mask_Shelf|-02.43|+00.15|-01.69.png new file mode 100644 index 0000000000000000000000000000000000000000..f56f7ac5c4c48efe889865fea48b295f3c753c21 --- /dev/null +++ b/train/FloorPlan23/5/rgb_0_mask_Shelf|-02.43|+00.15|-01.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cad76daf8e9e3d4e71fc41649f87e9d90b75409d46463a2c409829c418006107 +size 687249 diff --git a/train/FloorPlan23/5/rgb_0_mask_WineBottle|-02.44|+00.92|-02.14.png b/train/FloorPlan23/5/rgb_0_mask_WineBottle|-02.44|+00.92|-02.14.png new file mode 100644 index 0000000000000000000000000000000000000000..7415c462832e4dd0e0fb71d7b6e66309f8a55199 --- /dev/null +++ b/train/FloorPlan23/5/rgb_0_mask_WineBottle|-02.44|+00.92|-02.14.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e03b526b6d7edd5518e93e5c351aae4d09ac9ec4922874879c70619197dc5617 +size 685551 diff --git a/train/FloorPlan23/5/rgb_1.png b/train/FloorPlan23/5/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..85a103a299f2eb6bb2b4cd77567f7e78031bb682 --- /dev/null +++ b/train/FloorPlan23/5/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07d48adbd90d0f3d8ac4f04087b5a71b207554998bcfc38c30214d130f7fae0a +size 798151 diff --git a/train/FloorPlan23/5/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png b/train/FloorPlan23/5/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png new file mode 100644 index 0000000000000000000000000000000000000000..127abfe7ffd56c2b375a02d4ffed7431aee556fd --- /dev/null +++ b/train/FloorPlan23/5/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0c3ca1771337c82c29c51b17c06f2c93b02f9a9cdab6eab03ac7b5f46ca1198 +size 687837 diff --git a/train/FloorPlan23/5/rgb_1_mask_Shelf|-02.43|+00.15|-01.69.png b/train/FloorPlan23/5/rgb_1_mask_Shelf|-02.43|+00.15|-01.69.png new file mode 100644 index 0000000000000000000000000000000000000000..2630658952493cffff1912fe899a40091bfbdaf6 --- /dev/null +++ b/train/FloorPlan23/5/rgb_1_mask_Shelf|-02.43|+00.15|-01.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0d223b2804cf8e17ee8922315640a95c863ec89c3745523c8484cd54a2a6752 +size 697322 diff --git a/train/FloorPlan23/5/rgb_1_mask_WineBottle|-02.44|+00.92|-02.14.png b/train/FloorPlan23/5/rgb_1_mask_WineBottle|-02.44|+00.92|-02.14.png new file mode 100644 index 0000000000000000000000000000000000000000..b143fe8b6fb3fd23c71d41b60a3880ab3e8af43b --- /dev/null +++ b/train/FloorPlan23/5/rgb_1_mask_WineBottle|-02.44|+00.92|-02.14.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fc3c1436b85a517cb6d6f6a1452d6b3d6107daaf132ee9141bc2c3f43e155fb +size 701836 diff --git a/train/FloorPlan23/5/semantic_0.png b/train/FloorPlan23/5/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..56d2c3e7962fc9534ce6cc314c116138fa2ee1b3 Binary files /dev/null and b/train/FloorPlan23/5/semantic_0.png differ diff --git a/train/FloorPlan23/5/semantic_1.png b/train/FloorPlan23/5/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..0e7fb8435fbc1f2b6fd97abd62df4a7680c88abb Binary files /dev/null and b/train/FloorPlan23/5/semantic_1.png differ diff --git a/train/FloorPlan23/6/0.json b/train/FloorPlan23/6/0.json new file mode 100644 index 0000000000000000000000000000000000000000..634495eb51485b93836b4b0c976cd023ed11f36f --- /dev/null +++ b/train/FloorPlan23/6/0.json @@ -0,0 +1,3671 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Shelf|-02.43|+00.15|-01.69", + "object_info": { + "name": "Shelf_56e7d2ea", + "position": { + "x": -2.432276487350464, + "y": 0.15027305483818054, + "z": -1.6942251920700073 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.5205506086349487, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.15|-01.69", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0256943702697754, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -2.5611023902893066 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.25202104449272156, + "z": -1.6942222118377686 + }, + "size": { + "x": 0.8131651878356934, + "y": 0.20350056886672974, + "z": 1.7337603569030762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "object_info": { + "name": "LightSwitch_5e61d7a6", + "position": { + "x": -4.323999881744385, + "y": 1.319000005722046, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.475703239440918, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -4.280065059661865, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.280065059661865, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.2377760410308838, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.2377760410308838, + -0.033031947910785675 + ] + ], + "center": { + "x": -4.323999881744385, + "y": 1.3201357126235962, + "z": -0.01651597023010254 + }, + "size": { + "x": 0.08786964416503906, + "y": 0.1647193431854248, + "z": 0.03303195536136627 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Potato|-02.08|+00.95|-01.60", + "object_info": { + "name": "Potato_097cac87", + "position": { + "x": -2.0824663639068604, + "y": 0.9517925977706909, + "z": -1.595628023147583 + }, + "rotation": { + "x": 0.09599222987890244, + "y": 295.7773132324219, + "z": 0.3481499254703522 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": true, + "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": 0.18000000715255737, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.42998206615448, + "objectType": "Potato", + "objectId": "Potato|-02.08|+00.95|-01.60", + "assetId": "Potato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0365054607391357, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.6359621286392212 + ] + ], + "center": { + "x": -2.084045886993408, + "y": 0.9514029026031494, + "z": -1.5954636335372925 + }, + "size": { + "x": 0.09508085250854492, + "y": 0.0678938627243042, + "z": 0.08099699020385742 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.11331844329834, + 0.9176058173179626, + -1.5434285402297974 + ], + [ + -2.1428205966949463, + 0.9171935319900513, + -1.6045199632644653 + ], + [ + -2.0544910430908203, + 0.9173579216003418, + -1.64717698097229 + ], + [ + -2.024988889694214, + 0.9177701473236084, + -1.586085557937622 + ], + [ + -2.113600015640259, + 0.9854477643966675, + -1.5437504053115845 + ], + [ + -2.1431021690368652, + 0.9850355386734009, + -1.6048418283462524 + ], + [ + -2.0547726154327393, + 0.9851998686790466, + -1.6474988460540771 + ], + [ + -2.025270462036133, + 0.985612154006958, + -1.5864073038101196 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -1.100000023841858, + "y": 0.9009994864463806, + "z": -1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 248.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.100000023841858, + "y": 1.5759994983673096, + "z": -1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Window|-02.50|+01.78|-04.19", + "Cabinet|-01.76|+02.14|-03.69", + "Shelf|-02.43|+00.52|-01.69", + "DiningTable|-02.43|+00.00|-01.69", + "GarbageCan|-01.94|00.00|-03.76", + "Chair|-03.26|+00.00|-02.09", + "Blinds|-02.54|+02.70|-03.96" + ], + "different_object": [ + "Pen|-02.33|+00.92|-00.89", + "Knife|-02.27|+00.92|-02.14", + "Apple|-02.66|+00.97|-01.55", + "Chair|-03.24|+00.00|-01.25", + "Bowl|-02.75|+00.92|-01.17", + "Pot|-02.24|+00.92|-01.88", + "WineBottle|-02.44|+00.92|-02.14", + "Plate|-02.12|+00.92|-02.42", + "Mug|-02.59|+00.92|-02.31", + "Cup|-02.44|+00.92|-02.36", + "Shelf|-02.43|+00.15|-01.69", + "Bottle|-02.70|+00.92|-00.88", + "Pencil|-02.22|+00.92|-00.86", + "Pan|-02.17|+00.92|-01.10", + "Potato|-02.08|+00.95|-01.60", + "Lettuce|-02.62|+01.01|-01.73", + "LightSwitch|-04.32|+01.32|+00.00", + "Tomato|-02.67|+00.98|-02.01" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/6/0_depth_npy.npy b/train/FloorPlan23/6/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..86a83ac7bc7dd08948ce79bbe80b4031b9ba1299 --- /dev/null +++ b/train/FloorPlan23/6/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3f86de0bba64e84d5e9527bf243176ab56334bbc2a718f5a52760cbfa309d92 +size 3145856 diff --git a/train/FloorPlan23/6/0_semantic_sensor_npy.npy b/train/FloorPlan23/6/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..35ff7b1d736c91b3e4f140726f788242375dca1d --- /dev/null +++ b/train/FloorPlan23/6/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:169815127190ef73af6ee7ec048c9b63d489b1d472a24fbde1f54ac778df8d7e +size 2359424 diff --git a/train/FloorPlan23/6/1.json b/train/FloorPlan23/6/1.json new file mode 100644 index 0000000000000000000000000000000000000000..1832ba768d305af9c8c83476abda9ae6b164e462 --- /dev/null +++ b/train/FloorPlan23/6/1.json @@ -0,0 +1,1932 @@ +{ + "object": [ + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -4.0, + "y": 0.9009994864463806, + "z": -1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 181.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -4.0, + "y": 1.5759994983673096, + "z": -1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Window|-02.50|+01.78|-04.19", + "Cabinet|-01.76|+02.14|-03.69", + "Shelf|-02.43|+00.52|-01.69", + "DiningTable|-02.43|+00.00|-01.69", + "GarbageCan|-01.94|00.00|-03.76", + "Chair|-03.26|+00.00|-02.09", + "Blinds|-02.54|+02.70|-03.96" + ], + "different_object": [ + "StoveBurner|-01.52|+00.93|-03.75", + "Microwave|-01.32|+01.52|-03.80", + "SaltShaker|-00.83|+00.90|-03.77", + "StoveBurner|-01.13|+00.93|-03.50", + "CounterTop|-00.30|+00.95|-02.79", + "StoveBurner|-01.52|+00.93|-03.50", + "StoveBurner|-01.13|+00.93|-03.75", + "Cabinet|-00.88|+02.14|-03.69" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/6/1_depth_npy.npy b/train/FloorPlan23/6/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f53d77af0aecc11f0a701dd5a4dbe9a3eb008a8d --- /dev/null +++ b/train/FloorPlan23/6/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc2d8382e7f0cfc5f188a7e741b1fc4f9637caba4a55893f543bd7c36e083e58 +size 3145856 diff --git a/train/FloorPlan23/6/1_semantic_sensor_npy.npy b/train/FloorPlan23/6/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..4176cd1800b95cd97b76746b51233867536fdb45 --- /dev/null +++ b/train/FloorPlan23/6/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5645cd8f0b73361ba42d2455d0c46e1ef0edfbea8ebe76ee31574d5d1d24f918 +size 2359424 diff --git a/train/FloorPlan23/6/depth_0.png b/train/FloorPlan23/6/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..93f7ac3eb487e82c4492c17b36812c9ccb1e9a37 Binary files /dev/null and b/train/FloorPlan23/6/depth_0.png differ diff --git a/train/FloorPlan23/6/depth_1.png b/train/FloorPlan23/6/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..7864f8098655dffb36da92b83f6bab018ba12549 Binary files /dev/null and b/train/FloorPlan23/6/depth_1.png differ diff --git a/train/FloorPlan23/6/mask_questions.jsonl b/train/FloorPlan23/6/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..82689a7a10c1044fde90e949bfca4963375f7dd7 --- /dev/null +++ b/train/FloorPlan23/6/mask_questions.jsonl @@ -0,0 +1,6 @@ +{"id": 15445, "folder_dir": "FloorPlan23/6", "pair_name": "0-1:Shelf|-02.43|+00.52|-01.69", "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. Pen\nB. Shelf\nC. Window\nD. Tomato", "answer": "B", "object_name": "Shelf", "image_1": "FloorPlan23/6/rgb_0.png", "image_2": "FloorPlan23/6/rgb_1.png", "mask_image": "FloorPlan23/6/rgb_1_mask_Shelf|-02.43|+00.52|-01.69.png", "options": ["Pen", "Shelf", "Window", "Tomato"]} +{"id": 15446, "folder_dir": "FloorPlan23/6", "pair_name": "0-1:GarbageCan|-01.94|00.00|-03.76", "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. GarbageCan\nC. WineBottle\nD. Bottle", "answer": "B", "object_name": "GarbageCan", "image_1": "FloorPlan23/6/rgb_0.png", "image_2": "FloorPlan23/6/rgb_1.png", "mask_image": "FloorPlan23/6/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png", "options": ["Window", "GarbageCan", "WineBottle", "Bottle"]} +{"id": 15447, "folder_dir": "FloorPlan23/6", "pair_name": "0-1:Chair|-03.26|+00.00|-02.09", "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. Lettuce\nD. Plate", "answer": "A", "object_name": "Chair", "image_1": "FloorPlan23/6/rgb_0.png", "image_2": "FloorPlan23/6/rgb_1.png", "mask_image": "FloorPlan23/6/rgb_1_mask_Chair|-03.26|+00.00|-02.09.png", "options": ["Chair", "Window", "Lettuce", "Plate"]} +{"id": 15448, "folder_dir": "FloorPlan23/6", "pair_name": "0-1:Blinds|-02.54|+02.70|-03.96", "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. Blinds\nB. Cup\nC. Shelf\nD. Window", "answer": "A", "object_name": "Blinds", "image_1": "FloorPlan23/6/rgb_0.png", "image_2": "FloorPlan23/6/rgb_1.png", "mask_image": "FloorPlan23/6/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png", "options": ["Blinds", "Cup", "Shelf", "Window"]} +{"id": 15449, "folder_dir": "FloorPlan23/6", "pair_name": "1-0:GarbageCan|-01.94|00.00|-03.76", "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. StoveBurner\nC. GarbageCan\nD. StoveBurner", "answer": "C", "object_name": "GarbageCan", "image_1": "FloorPlan23/6/rgb_1.png", "image_2": "FloorPlan23/6/rgb_0.png", "mask_image": "FloorPlan23/6/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png", "options": ["Window", "StoveBurner", "GarbageCan", "StoveBurner"]} +{"id": 15450, "folder_dir": "FloorPlan23/6", "pair_name": "1-0:Blinds|-02.54|+02.70|-03.96", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Window\nC. Blinds\nD. Microwave", "answer": "C", "object_name": "Blinds", "image_1": "FloorPlan23/6/rgb_1.png", "image_2": "FloorPlan23/6/rgb_0.png", "mask_image": "FloorPlan23/6/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png", "options": ["Cabinet", "Window", "Blinds", "Microwave"]} diff --git a/train/FloorPlan23/6/questions_distance.jsonl b/train/FloorPlan23/6/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..294e77908f45c63dc1e80983056f63f0d27dcaea --- /dev/null +++ b/train/FloorPlan23/6/questions_distance.jsonl @@ -0,0 +1,3 @@ +{"id": 4599, "folder_dir": "FloorPlan23/6", "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. Microwave\nB. Blinds\nC. GarbageCan\nD. Other\n", "answer": "B", "src_object": "Window", "target_object": "Blinds", "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": "Microwave", "semantic_id": "Microwave|-01.32|+01.52|-03.80", "distance": 1.2565980034739546, "com": {"x": -1.3173975944519043, "y": 1.716176986694336, "z": -3.7988924980163574}}, {"text": "Blinds", "semantic_id": "Blinds|-02.54|+02.70|-03.96", "distance": 0.7805063449843993, "com": {"x": -2.5367586612701416, "y": 2.5410349369049072, "z": -3.9586215019226074}}, {"text": "GarbageCan", "semantic_id": "GarbageCan|-01.94|00.00|-03.76", "distance": 1.611971431126743, "com": {"x": -1.9438002109527588, "y": 0.32797741889953613, "z": -3.7633652687072754}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/6/rgb_0.png", "image_2": "FloorPlan23/6/rgb_1.png"} +{"id": 4600, "folder_dir": "FloorPlan23/6", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pot\nB. Apple\nC. Lettuce\nD. Other\n", "answer": "C", "src_object": "DiningTable", "target_object": "Lettuce", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pot", "semantic_id": "Pot|-02.24|+00.92|-01.88", "distance": 0.5858293435623843, "com": {"x": -2.238513231277466, "y": 0.9807913899421692, "z": -1.8819752931594849}}, {"text": "Apple", "semantic_id": "Apple|-02.66|+00.97|-01.55", "distance": 0.58665562724534, "com": {"x": -2.66848087310791, "y": 0.9702385067939758, "z": -1.5395169258117676}}, {"text": "Lettuce", "semantic_id": "Lettuce|-02.62|+01.01|-01.73", "distance": 0.5853301333959219, "com": {"x": -2.620821714401245, "y": 1.0096420049667358, "z": -1.7274253368377686}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/6/rgb_0.png", "image_2": "FloorPlan23/6/rgb_1.png"} +{"id": 4601, "folder_dir": "FloorPlan23/6", "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. Plate\nB. SaltShaker\nC. Microwave\nD. Other\n", "answer": "B", "src_object": "GarbageCan", "target_object": "SaltShaker", "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": "Plate", "semantic_id": "Plate|-02.12|+00.92|-02.42", "distance": 1.4782665998070361, "com": {"x": -2.1214847564697266, "y": 0.9258545637130737, "z": -2.4231252670288086}}, {"text": "SaltShaker", "semantic_id": "SaltShaker|-00.83|+00.90|-03.77", "distance": 1.281160242711074, "com": {"x": -0.828997015953064, "y": 0.9593031406402588, "z": -3.7670035362243652}}, {"text": "Microwave", "semantic_id": "Microwave|-01.32|+01.52|-03.80", "distance": 1.523397670343225, "com": {"x": -1.3173975944519043, "y": 1.716176986694336, "z": -3.7988924980163574}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/6/rgb_0.png", "image_2": "FloorPlan23/6/rgb_1.png"} diff --git a/train/FloorPlan23/6/rgb_0.png b/train/FloorPlan23/6/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..240283c74e37b717e76e1df0d3245ec9dd88db80 --- /dev/null +++ b/train/FloorPlan23/6/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7aac9832e77d1c4c09c122d54eecc4541689c799364bfb37bbfddfd2adb82e7 +size 731407 diff --git a/train/FloorPlan23/6/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png b/train/FloorPlan23/6/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png new file mode 100644 index 0000000000000000000000000000000000000000..626a08d79077f0eac7ff2c4b189dca1ea0941640 --- /dev/null +++ b/train/FloorPlan23/6/rgb_0_mask_Blinds|-02.54|+02.70|-03.96.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:089745dd9582a3f149926d6d4ff6657606b35466f5807ca15fce64400dfed37d +size 614930 diff --git a/train/FloorPlan23/6/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png b/train/FloorPlan23/6/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png new file mode 100644 index 0000000000000000000000000000000000000000..dba2970387c1c7c65e937ea331e2ff0fe4ad9015 --- /dev/null +++ b/train/FloorPlan23/6/rgb_0_mask_GarbageCan|-01.94|00.00|-03.76.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e9ead0d5199f0a5fa9a1945874a16b30782b0d458994e9aacf1d0fd20e7321b +size 633512 diff --git a/train/FloorPlan23/6/rgb_1.png b/train/FloorPlan23/6/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bdc420f032b47b0271643fa83a9fcbc008a735b8 --- /dev/null +++ b/train/FloorPlan23/6/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3dddcb53782c406dbe4493b34301a43fc35e4803c9db32bb29910b512fb6aa3 +size 749022 diff --git a/train/FloorPlan23/6/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png b/train/FloorPlan23/6/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png new file mode 100644 index 0000000000000000000000000000000000000000..7c7c2b28b67b036461b483f71bba357258ed14a4 --- /dev/null +++ b/train/FloorPlan23/6/rgb_1_mask_Blinds|-02.54|+02.70|-03.96.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:308204bf010adb9d9c31bcb108bac85c35760207e46c8f9de214dc675bedfe0b +size 654403 diff --git a/train/FloorPlan23/6/rgb_1_mask_Chair|-03.26|+00.00|-02.09.png b/train/FloorPlan23/6/rgb_1_mask_Chair|-03.26|+00.00|-02.09.png new file mode 100644 index 0000000000000000000000000000000000000000..3ca4dff3c37274a5c1ba89e3e06228576a8bd7ce --- /dev/null +++ b/train/FloorPlan23/6/rgb_1_mask_Chair|-03.26|+00.00|-02.09.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2015a090eeb7124a0d3e6c5e22c7984d747074f30bcf53ab5f97ef07040f8d86 +size 650178 diff --git a/train/FloorPlan23/6/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png b/train/FloorPlan23/6/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png new file mode 100644 index 0000000000000000000000000000000000000000..cf589dfc55bdc4a91383ee3b161fe9fe37f15d13 --- /dev/null +++ b/train/FloorPlan23/6/rgb_1_mask_GarbageCan|-01.94|00.00|-03.76.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eacfeecc8a7dc2edaa65a8dc97bb3b97de6556bf8c49b3ded175012ad6604c25 +size 649915 diff --git a/train/FloorPlan23/6/rgb_1_mask_Shelf|-02.43|+00.52|-01.69.png b/train/FloorPlan23/6/rgb_1_mask_Shelf|-02.43|+00.52|-01.69.png new file mode 100644 index 0000000000000000000000000000000000000000..242c7188102212d256e18f63939a6469508f741b --- /dev/null +++ b/train/FloorPlan23/6/rgb_1_mask_Shelf|-02.43|+00.52|-01.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0658148e139dfa30a846d6bc50bb6a7b9ba390216c4191db0fb5f0b7aadb07d9 +size 657229 diff --git a/train/FloorPlan23/6/semantic_0.png b/train/FloorPlan23/6/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..563da434ee670b4d00df82fea6b33061a0641639 Binary files /dev/null and b/train/FloorPlan23/6/semantic_0.png differ diff --git a/train/FloorPlan23/6/semantic_1.png b/train/FloorPlan23/6/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..8e41fbd58b2bf282f2379de14054e4538ffc9441 Binary files /dev/null and b/train/FloorPlan23/6/semantic_1.png differ diff --git a/train/FloorPlan23/7/0.json b/train/FloorPlan23/7/0.json new file mode 100644 index 0000000000000000000000000000000000000000..50ac2745733f34e48a834e003d55dc9ecc3d8858 --- /dev/null +++ b/train/FloorPlan23/7/0.json @@ -0,0 +1,2677 @@ +{ + "object": [ + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.15|-01.69", + "object_info": { + "name": "Shelf_56e7d2ea", + "position": { + "x": -2.432276487350464, + "y": 0.15027305483818054, + "z": -1.6942251920700073 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.5205506086349487, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.15|-01.69", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0256943702697754, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -2.5611023902893066 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.25202104449272156, + "z": -1.6942222118377686 + }, + "size": { + "x": 0.8131651878356934, + "y": 0.20350056886672974, + "z": 1.7337603569030762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "object_info": { + "name": "LightSwitch_5e61d7a6", + "position": { + "x": -4.323999881744385, + "y": 1.319000005722046, + "z": 0.0 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.475703239440918, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-04.32|+01.32|+00.00", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -4.280065059661865, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.280065059661865, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.280065059661865, + 1.2377760410308838, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.4024953842163086, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.4024953842163086, + -0.033031947910785675 + ], + [ + -4.367934703826904, + 1.2377760410308838, + 7.450580596923828e-09 + ], + [ + -4.367934703826904, + 1.2377760410308838, + -0.033031947910785675 + ] + ], + "center": { + "x": -4.323999881744385, + "y": 1.3201357126235962, + "z": -0.01651597023010254 + }, + "size": { + "x": 0.08786964416503906, + "y": 0.1647193431854248, + "z": 0.03303195536136627 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Potato|-02.08|+00.95|-01.60", + "object_info": { + "name": "Potato_097cac87", + "position": { + "x": -2.0824663639068604, + "y": 0.9517925977706909, + "z": -1.595628023147583 + }, + "rotation": { + "x": 0.09599222987890244, + "y": 295.7773132324219, + "z": 0.3481499254703522 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": true, + "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": 0.18000000715255737, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.42998206615448, + "objectType": "Potato", + "objectId": "Potato|-02.08|+00.95|-01.60", + "assetId": "Potato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0365054607391357, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.6359621286392212 + ] + ], + "center": { + "x": -2.084045886993408, + "y": 0.9514029026031494, + "z": -1.5954636335372925 + }, + "size": { + "x": 0.09508085250854492, + "y": 0.0678938627243042, + "z": 0.08099699020385742 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.11331844329834, + 0.9176058173179626, + -1.5434285402297974 + ], + [ + -2.1428205966949463, + 0.9171935319900513, + -1.6045199632644653 + ], + [ + -2.0544910430908203, + 0.9173579216003418, + -1.64717698097229 + ], + [ + -2.024988889694214, + 0.9177701473236084, + -1.586085557937622 + ], + [ + -2.113600015640259, + 0.9854477643966675, + -1.5437504053115845 + ], + [ + -2.1431021690368652, + 0.9850355386734009, + -1.6048418283462524 + ], + [ + -2.0547726154327393, + 0.9851998686790466, + -1.6474988460540771 + ], + [ + -2.025270462036133, + 0.985612154006958, + -1.5864073038101196 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -1.100000023841858, + "y": 0.9009994864463806, + "z": -2.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 320.9999694824219, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.100000023841858, + "y": 1.5759994983673096, + "z": -2.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Knife|-02.27|+00.92|-02.14", + "Pot|-02.24|+00.92|-01.88", + "Shelf|-02.43|+00.52|-01.69", + "DiningTable|-02.43|+00.00|-01.69", + "Pan|-02.17|+00.92|-01.10" + ], + "different_object": [ + "Pen|-02.33|+00.92|-00.89", + "Chair|-03.24|+00.00|-01.25", + "Apple|-02.66|+00.97|-01.55", + "Bowl|-02.75|+00.92|-01.17", + "Shelf|-02.43|+00.15|-01.69", + "Potato|-02.08|+00.95|-01.60", + "Pencil|-02.22|+00.92|-00.86", + "Bottle|-02.70|+00.92|-00.88", + "Lettuce|-02.62|+01.01|-01.73", + "Chair|-03.26|+00.00|-02.09", + "LightSwitch|-04.32|+01.32|+00.00", + "Tomato|-02.67|+00.98|-02.01" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/7/0_depth_npy.npy b/train/FloorPlan23/7/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a408f4446d3a94b3c7f9764b9c48dae712082aa0 --- /dev/null +++ b/train/FloorPlan23/7/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1def8a05c5087a50dc4fc88bf91893a1ad86dbd6b9e87928d7ccf3ebbdbf428 +size 3145856 diff --git a/train/FloorPlan23/7/0_semantic_sensor_npy.npy b/train/FloorPlan23/7/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9a51c0250e44e4ab5a4d738c0fd5379cfe682add --- /dev/null +++ b/train/FloorPlan23/7/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3aa0c6981b5d618ba104bdf869c3bb988a1fd95b6c8657a999fd307c73442a1b +size 2359424 diff --git a/train/FloorPlan23/7/1.json b/train/FloorPlan23/7/1.json new file mode 100644 index 0000000000000000000000000000000000000000..9d30a4a0e2e0c05fe43377343be1899138a58075 --- /dev/null +++ b/train/FloorPlan23/7/1.json @@ -0,0 +1,5329 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_52939fe2", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7519781589508057, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198073387145996, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.0198073387145996, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.238992691040039, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "object_info": { + "name": "SaltShaker_89e91618", + "position": { + "x": -0.8289991021156311, + "y": 0.9039784669876099, + "z": -3.7669992446899414 + }, + "rotation": { + "x": -0.004383909050375223, + "y": -0.00042680499609559774, + "z": -0.0021376493386924267 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.922567844390869, + "objectType": "SaltShaker", + "objectId": "SaltShaker|-00.83|+00.90|-03.77", + "assetId": "Salt_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.7949724197387695, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.7949724197387695, + 0.9039008617401123, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 1.0147054195404053, + -3.8010616302490234 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.732945442199707 + ], + [ + -0.8630216121673584, + 0.9039008617401123, + -3.8010616302490234 + ] + ], + "center": { + "x": -0.828997015953064, + "y": 0.9593031406402588, + "z": -3.7670035362243652 + }, + "size": { + "x": 0.06804919242858887, + "y": 0.11080455780029297, + "z": 0.0681161880493164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.7949767112731934, + 0.9039053916931152, + -3.732944965362549 + ], + [ + -0.8630220293998718, + 0.9039078950881958, + -3.732945680618286 + ], + [ + -0.8630214929580688, + 0.9039027094841003, + -3.801053285598755 + ], + [ + -0.7949761748313904, + 0.903900146484375, + -3.8010528087615967 + ], + [ + -0.7949725389480591, + 1.0147037506103516, + -3.7329535484313965 + ], + [ + -0.8630179166793823, + 1.0147062540054321, + -3.7329540252685547 + ], + [ + -0.8630173802375793, + 1.014701008796692, + -3.8010618686676025 + ], + [ + -0.7949720621109009, + 1.0146985054016113, + -3.8010613918304443 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "object_info": { + "name": "SinkBasin_9c8cc8f6", + "position": { + "x": -0.350600004196167, + "y": 0.7866411805152893, + "z": -2.018899917602539 + }, + "rotation": { + "x": 6.066426694087048e-21, + "y": 270.0, + "z": -1.403341910044412e-14 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Fork|-00.30|+00.79|-01.86", + "Spoon|-00.33|+00.79|-02.12", + "CounterTop|-00.30|+00.95|-02.79" + ], + "distance": 3.0560522079467773, + "objectType": "SinkBasin", + "objectId": "Sink|-00.35|+00.91|-02.01|SinkBasin", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.16295480728149414, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.16295480728149414, + 0.7816834449768066, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.9151103496551514, + -2.3016610145568848 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -1.7265515327453613 + ], + [ + -0.5358972549438477, + 0.7816834449768066, + -2.3016610145568848 + ] + ], + "center": { + "x": -0.3494260311126709, + "y": 0.848396897315979, + "z": -2.014106273651123 + }, + "size": { + "x": 0.3729424476623535, + "y": 0.13342690467834473, + "z": 0.5751094818115234 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -3.0, + "y": 0.9009992480278015, + "z": -3.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 72.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -3.0, + "y": 1.5759992599487305, + "z": -3.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Knife|-02.27|+00.92|-02.14", + "Pot|-02.24|+00.92|-01.88", + "Shelf|-02.43|+00.52|-01.69", + "DiningTable|-02.43|+00.00|-01.69", + "Pan|-02.17|+00.92|-01.10" + ], + "different_object": [ + "StoveBurner|-01.13|+00.93|-03.50", + "Cabinet|-00.33|+01.92|-03.39", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Sink|-00.35|+00.91|-02.01", + "StoveBurner|-01.52|+00.93|-03.75", + "ButterKnife|-00.31|+00.91|-03.44", + "CounterTop|-00.30|+00.95|-02.79", + "SaltShaker|-00.83|+00.90|-03.77", + "Cup|-02.44|+00.92|-02.36", + "Sink|-00.35|+00.91|-02.01|SinkBasin", + "Faucet|-00.08|+00.90|-02.03", + "Cabinet|-00.58|+00.39|-02.20", + "Cabinet|-00.31|+02.14|-01.54", + "Window|-02.50|+01.78|-04.19", + "Cabinet|-01.76|+02.14|-03.69", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.52|+00.93|-03.50", + "Drawer|-00.45|+00.78|-03.27", + "StoveBurner|-01.13|+00.93|-03.75", + "DishSponge|-00.07|+00.91|-01.69", + "GarbageCan|-01.94|00.00|-03.76", + "PepperShaker|-00.44|+00.90|-03.35", + "Cabinet|-00.58|+00.39|-01.80", + "WineBottle|-02.44|+00.92|-02.14", + "Toaster|-00.18|+00.90|-02.76", + "Plate|-02.12|+00.92|-02.42", + "Cabinet|-00.31|+02.14|-02.48", + "Mug|-02.59|+00.92|-02.31", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.58|+00.39|-03.40", + "Cabinet|-00.88|+02.14|-03.69", + "Spatula|-00.30|+00.91|-02.54" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/7/1_depth_npy.npy b/train/FloorPlan23/7/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..66ea5012483acf70f88baaae3da7dae6fc2a2382 --- /dev/null +++ b/train/FloorPlan23/7/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12bfae2dc0589b7b46c2931c35fdd425fd25238a73f75f1b984ba4ac855aef5e +size 3145856 diff --git a/train/FloorPlan23/7/1_semantic_sensor_npy.npy b/train/FloorPlan23/7/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..396730030359e748259fd0fc7518e852d5135215 --- /dev/null +++ b/train/FloorPlan23/7/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c5cca10bd89d00f4fe15f034b8c9e64db85821464616c21a37a1beb6936569d +size 2359424 diff --git a/train/FloorPlan23/7/depth_0.png b/train/FloorPlan23/7/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3b902530a6879be9c2cfbab57a6f7c120bc57dd9 Binary files /dev/null and b/train/FloorPlan23/7/depth_0.png differ diff --git a/train/FloorPlan23/7/depth_1.png b/train/FloorPlan23/7/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9d3ec7d68ae1644c1215bd4d968f9e2a6f290353 Binary files /dev/null and b/train/FloorPlan23/7/depth_1.png differ diff --git a/train/FloorPlan23/7/mask_questions.jsonl b/train/FloorPlan23/7/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7852a0876989c18893d0cf942003c8d1a9ae80f0 --- /dev/null +++ b/train/FloorPlan23/7/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 15408, "folder_dir": "FloorPlan23/7", "pair_name": "0-1:Fridge|-00.33|+00.00|-00.77", "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. Tomato\nC. Potato\nD. Knife", "answer": "A", "object_name": "Fridge", "image_1": "FloorPlan23/7/rgb_0.png", "image_2": "FloorPlan23/7/rgb_1.png", "mask_image": "FloorPlan23/7/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png", "options": ["Fridge", "Tomato", "Potato", "Knife"]} +{"id": 15409, "folder_dir": "FloorPlan23/7", "pair_name": "0-1:Shelf|-02.43|+00.52|-01.69", "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. Shelf\nB. Chair\nC. Bowl\nD. Fridge", "answer": "A", "object_name": "Shelf", "image_1": "FloorPlan23/7/rgb_0.png", "image_2": "FloorPlan23/7/rgb_1.png", "mask_image": "FloorPlan23/7/rgb_1_mask_Shelf|-02.43|+00.52|-01.69.png", "options": ["Shelf", "Chair", "Bowl", "Fridge"]} diff --git a/train/FloorPlan23/7/questions_distance.jsonl b/train/FloorPlan23/7/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d8c937311c6ffa4abd190a0e6f17fc0070be0df3 --- /dev/null +++ b/train/FloorPlan23/7/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4590, "folder_dir": "FloorPlan23/7", "query": "Which of the following objects is closest to Pot in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. WineBottle\nB. Potato\nC. Knife\nD. Other\n", "answer": "C", "src_object": "Pot", "target_object": "Knife", "question": "Which of the following objects is closest to Pot in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "WineBottle", "semantic_id": "WineBottle|-02.44|+00.92|-02.14", "distance": 0.3463223524724991, "com": {"x": -2.4438514709472656, "y": 1.0804027318954468, "z": -2.1424612998962402}}, {"text": "Potato", "semantic_id": "Potato|-02.08|+00.95|-01.60", "distance": 0.3268222372142207, "com": {"x": -2.084045886993408, "y": 0.9514029026031494, "z": -1.5954636335372925}}, {"text": "Knife", "semantic_id": "Knife|-02.27|+00.92|-02.14", "distance": 0.23764350556220398, "com": {"x": -2.2434728145599365, "y": 0.9244518876075745, "z": -2.112790584564209}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/7/rgb_0.png", "image_2": "FloorPlan23/7/rgb_1.png"} +{"id": 4591, "folder_dir": "FloorPlan23/7", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pot\nB. Lettuce\nC. Apple\nD. Other\n", "answer": "B", "src_object": "DiningTable", "target_object": "Lettuce", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pot", "semantic_id": "Pot|-02.24|+00.92|-01.88", "distance": 0.5858293435623843, "com": {"x": -2.238513231277466, "y": 0.9807913899421692, "z": -1.8819752931594849}}, {"text": "Lettuce", "semantic_id": "Lettuce|-02.62|+01.01|-01.73", "distance": 0.5853301333959219, "com": {"x": -2.620821714401245, "y": 1.0096420049667358, "z": -1.7274253368377686}}, {"text": "Apple", "semantic_id": "Apple|-02.66|+00.97|-01.55", "distance": 0.58665562724534, "com": {"x": -2.66848087310791, "y": 0.9702385067939758, "z": -1.5395169258117676}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/7/rgb_0.png", "image_2": "FloorPlan23/7/rgb_1.png"} diff --git a/train/FloorPlan23/7/rgb_0.png b/train/FloorPlan23/7/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d5592c60baefd474be8d6b6bb954e3a8dcc9d8de --- /dev/null +++ b/train/FloorPlan23/7/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32e6a0b32918c48c682a5fb94972823d91bc068e81bb453f964431495e495094 +size 835355 diff --git a/train/FloorPlan23/7/rgb_1.png b/train/FloorPlan23/7/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..2677a9418ae46ec3694447db3beea9195f0ea6f2 --- /dev/null +++ b/train/FloorPlan23/7/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb046a53b2e2846cd887095915c36cd69722cb1f7f34ea1a04e15858fcdf3c29 +size 754226 diff --git a/train/FloorPlan23/7/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png b/train/FloorPlan23/7/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png new file mode 100644 index 0000000000000000000000000000000000000000..2b23b59e61e92b1b4fbba6fdc8b1bab5e3caee65 --- /dev/null +++ b/train/FloorPlan23/7/rgb_1_mask_Fridge|-00.33|+00.00|-00.77.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e9c7c569e19f5cfc3af2ea3b6397607d5bb79f010fe03367ae21b324bfa9c6c +size 648208 diff --git a/train/FloorPlan23/7/rgb_1_mask_Shelf|-02.43|+00.52|-01.69.png b/train/FloorPlan23/7/rgb_1_mask_Shelf|-02.43|+00.52|-01.69.png new file mode 100644 index 0000000000000000000000000000000000000000..c7c0ea302a8452077d253fb998042471de517287 --- /dev/null +++ b/train/FloorPlan23/7/rgb_1_mask_Shelf|-02.43|+00.52|-01.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c5b277ea0957c656f0e123ee2d7f1f432c3dee611da7c22e37425cb427d3dde +size 658946 diff --git a/train/FloorPlan23/7/semantic_0.png b/train/FloorPlan23/7/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..94cb3a7ac83290ca53f2dec98c9f7e209e2533de Binary files /dev/null and b/train/FloorPlan23/7/semantic_0.png differ diff --git a/train/FloorPlan23/7/semantic_1.png b/train/FloorPlan23/7/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a9d2bc84e4bc833924e455f3c37708e043e15203 Binary files /dev/null and b/train/FloorPlan23/7/semantic_1.png differ diff --git a/train/FloorPlan23/8/0.json b/train/FloorPlan23/8/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2ff13601c33317bff647bec32681704db592336f --- /dev/null +++ b/train/FloorPlan23/8/0.json @@ -0,0 +1,3684 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_6b1e278d", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.4974000453948975 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.3449795246124268, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.405907392501831, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.405907392501831, + 0.9262092113494873, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9307794570922852, + -3.606992244720459 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.387807846069336 + ], + [ + -1.6250925064086914, + 0.9262092113494873, + -3.606992244720459 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.4974000453948975 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918439865112305 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "object_info": { + "name": "GarbageCan_24e54942", + "position": { + "x": -1.9438021183013916, + "y": -3.8743019104003906e-07, + "z": -3.7633659839630127 + }, + "rotation": { + "x": 8.954110671766102e-05, + "y": -9.732960461406037e-05, + "z": -0.00030867490568198264 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 3.5463943481445312, + "objectType": "GarbageCan", + "objectId": "GarbageCan|-01.94|00.00|-03.76", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.7583205699920654, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -1.7583205699920654, + -1.5497207641601562e-06, + -3.9488439559936523 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.5778865814208984 + ], + [ + -2.129279851913452, + 0.6559563875198364, + -3.9488439559936523 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.5778865814208984 + ], + [ + -2.129279851913452, + -1.5497207641601562e-06, + -3.9488439559936523 + ] + ], + "center": { + "x": -1.9438002109527588, + "y": 0.32797741889953613, + "z": -3.7633652687072754 + }, + "size": { + "x": 0.3709592819213867, + "y": 0.6559579372406006, + "z": 0.3709573745727539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7583247423171997, + -7.228593403851846e-07, + -3.577888011932373 + ], + [ + -2.1292800903320312, + 1.2756229352817172e-06, + -3.5778887271881104 + ], + [ + -2.129279375076294, + 1.8553471363702556e-06, + -3.9488439559936523 + ], + [ + -1.758324146270752, + -1.4313508245322737e-07, + -3.948843479156494 + ], + [ + -1.7583211660385132, + 0.6559536457061768, + -3.5778870582580566 + ], + [ + -2.1292765140533447, + 0.6559556722640991, + -3.577887535095215 + ], + [ + -2.1292757987976074, + 0.6559562683105469, + -3.948843002319336 + ], + [ + -1.7583205699920654, + 0.6559542417526245, + -3.9488422870635986 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Microwave|-01.32|+01.52|-03.80", + "object_info": { + "name": "Microwave_9c74c4ab", + "position": { + "x": -1.3176015615463257, + "y": 1.5177127122879028, + "z": -3.801020383834839 + }, + "rotation": { + "x": 0.046268727630376816, + "y": 1.4449224472045898, + "z": 359.988037109375 + }, + "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": 3.755999803543091, + "objectType": "Microwave", + "objectId": "Microwave|-01.32|+01.52|-03.80", + "assetId": "Microwave_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0092692375183105, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.0092692375183105, + 1.5175154209136963, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.9148385524749756, + -3.987974166870117 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.6098108291625977 + ], + [ + -1.625525951385498, + 1.5175154209136963, + -3.987974166870117 + ] + ], + "center": { + "x": -1.3173975944519043, + "y": 1.716176986694336, + "z": -3.7988924980163574 + }, + "size": { + "x": 0.6162567138671875, + "y": 0.3973231315612793, + "z": 0.37816333770751953 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.0088467597961426, + 1.5175108909606934, + -3.6245152950286865 + ], + [ + -1.6163727045059204, + 1.5176377296447754, + -3.6091909408569336 + ], + [ + -1.6255398988723755, + 1.517931342124939, + -3.972623109817505 + ], + [ + -1.0180139541625977, + 1.5178043842315674, + -3.987947463989258 + ], + [ + -1.0087559223175049, + 1.9144436120986938, + -3.624197006225586 + ], + [ + -1.6162817478179932, + 1.9145705699920654, + -3.608872652053833 + ], + [ + -1.6254489421844482, + 1.9148640632629395, + -3.9723048210144043 + ], + [ + -1.01792311668396, + 1.9147372245788574, + -3.9876291751861572 + ] + ] + } + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Window|-02.50|+01.78|-04.19", + "object_info": { + "name": "Window_7943ff96", + "position": { + "x": -2.503999948501587, + "y": 1.7829999923706055, + "z": -4.185999870300293 + }, + "rotation": { + "x": 90.0, + "y": 180.000244140625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.822373151779175, + "objectType": "Window", + "objectId": "Window|-02.50|+01.78|-04.19", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0569067001342773, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.0569067001342773, + 1.032778263092041, + -4.195761680603027 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.092453956604004 + ], + [ + -2.990687370300293, + 2.53322172164917, + -4.195761680603027 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.092453956604004 + ], + [ + -2.990687370300293, + 1.032778263092041, + -4.195761680603027 + ] + ], + "center": { + "x": -2.523797035217285, + "y": 1.7829999923706055, + "z": -4.144107818603516 + }, + "size": { + "x": 0.9337806701660156, + "y": 1.500443458557129, + "z": 0.10330772399902344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Shelf|-02.43|+00.15|-01.69", + "object_info": { + "name": "Shelf_56e7d2ea", + "position": { + "x": -2.432276487350464, + "y": 0.15027305483818054, + "z": -1.6942251920700073 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.5205506086349487, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.15|-01.69", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0256943702697754, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -2.5611023902893066 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.25202104449272156, + "z": -1.6942222118377686 + }, + "size": { + "x": 0.8131651878356934, + "y": 0.20350056886672974, + "z": 1.7337603569030762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "object_info": { + "name": "StoveBurner_da767a93", + "position": { + "x": -1.5154999494552612, + "y": 0.9282000064849854, + "z": -3.7523000240325928 + }, + "rotation": { + "x": -0.0, + "y": 89.99983215332031, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": 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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.575183391571045, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.52|+00.93|-03.75", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.4059072732925415, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.4059072732925415, + 0.9262092113494873, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9307794570922852, + -3.8618929386138916 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.642707109451294 + ], + [ + -1.625092625617981, + 0.9262092113494873, + -3.8618929386138916 + ] + ], + "center": { + "x": -1.5154999494552612, + "y": 0.9284943342208862, + "z": -3.7523000240325928 + }, + "size": { + "x": 0.21918535232543945, + "y": 0.0045702457427978516, + "z": 0.21918582916259766 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "Chair|-03.26|+00.00|-02.09", + "object_info": { + "name": "Chair_b8e8283f", + "position": { + "x": -3.2640087604522705, + "y": 0.0020239949226379395, + "z": -2.094024896621704 + }, + "rotation": { + "x": 359.8515930175781, + "y": 53.27940368652344, + "z": 0.027997756376862526 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.8489924669265747, + "objectType": "Chair", + "objectId": "Chair|-03.26|+00.00|-02.09", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.9165265560150146, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -2.9165265560150146, + 3.159046173095703e-06, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 1.0479927062988281, + -2.4265661239624023 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -1.7550582885742188 + ], + [ + -3.5991098880767822, + 3.159046173095703e-06, + -2.4265661239624023 + ] + ], + "center": { + "x": -3.2578182220458984, + "y": 0.523997962474823, + "z": -2.0908122062683105 + }, + "size": { + "x": 0.6825833320617676, + "y": 1.0479896068572998, + "z": 0.6715078353881836 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.910017967224121, + 0.0003064391203224659, + -2.121141195297241 + ], + [ + -3.188941478729248, + 7.848534733057022e-05, + -1.7472162246704102 + ], + [ + -3.6176199913024902, + -0.0013067633844912052, + -2.0669829845428467 + ], + [ + -3.3386964797973633, + -0.0010788096114993095, + -2.440908193588257 + ], + [ + -2.9125025272369385, + 1.0494177341461182, + -2.1223552227020264 + ], + [ + -3.1914262771606445, + 1.049189567565918, + -1.7484300136566162 + ], + [ + -3.6201047897338867, + 1.047804355621338, + -2.0681967735290527 + ], + [ + -3.3411810398101807, + 1.048032522201538, + -2.442121982574463 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "object_info": { + "name": "Cabinet_0e9765cc", + "position": { + "x": -1.7646740674972534, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.636151075363159, + "objectType": "Cabinet", + "objectId": "Cabinet|-01.76|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.33353853225708, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.33353853225708, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.33353853225708, + 1.956141471862793, + -4.000973701477051 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 2.3240890502929688, + -4.000973701477051 + ], + [ + -1.764674186706543, + 1.956141471862793, + -3.6807045936584473 + ], + [ + -1.764674186706543, + 1.956141471862793, + -4.000973701477051 + ] + ], + "center": { + "x": -1.5491063594818115, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.4311356544494629, + "y": 0.3679475784301758, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Blinds|-02.54|+02.70|-03.96", + "object_info": { + "name": "Blinds_38996d0e", + "position": { + "x": -2.5367586612701416, + "y": 2.699247121810913, + "z": -3.9590001106262207 + }, + "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": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.9259352684020996, + "objectType": "Blinds", + "objectId": "Blinds|-02.54|+02.70|-03.96", + "assetId": "Blinds_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.985011339187622, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -1.985011339187622, + 2.443181276321411, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.6388885974884033, + -3.973454713821411 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.9437882900238037 + ], + [ + -3.088505983352661, + 2.443181276321411, + -3.973454713821411 + ] + ], + "center": { + "x": -2.5367586612701416, + "y": 2.5410349369049072, + "z": -3.9586215019226074 + }, + "size": { + "x": 1.103494644165039, + "y": 0.1957073211669922, + "z": 0.029666423797607422 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Potato|-02.08|+00.95|-01.60", + "object_info": { + "name": "Potato_097cac87", + "position": { + "x": -2.0824663639068604, + "y": 0.9517925977706909, + "z": -1.595628023147583 + }, + "rotation": { + "x": 0.09599222987890244, + "y": 295.7773132324219, + "z": 0.3481499254703522 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": true, + "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": 0.18000000715255737, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.42998206615448, + "objectType": "Potato", + "objectId": "Potato|-02.08|+00.95|-01.60", + "assetId": "Potato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0365054607391357, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.6359621286392212 + ] + ], + "center": { + "x": -2.084045886993408, + "y": 0.9514029026031494, + "z": -1.5954636335372925 + }, + "size": { + "x": 0.09508085250854492, + "y": 0.0678938627243042, + "z": 0.08099699020385742 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.11331844329834, + 0.9176058173179626, + -1.5434285402297974 + ], + [ + -2.1428205966949463, + 0.9171935319900513, + -1.6045199632644653 + ], + [ + -2.0544910430908203, + 0.9173579216003418, + -1.64717698097229 + ], + [ + -2.024988889694214, + 0.9177701473236084, + -1.586085557937622 + ], + [ + -2.113600015640259, + 0.9854477643966675, + -1.5437504053115845 + ], + [ + -2.1431021690368652, + 0.9850355386734009, + -1.6048418283462524 + ], + [ + -2.0547726154327393, + 0.9851998686790466, + -1.6474988460540771 + ], + [ + -2.025270462036133, + 0.985612154006958, + -1.5864073038101196 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "object_info": { + "name": "Cabinet_60491185", + "position": { + "x": -0.8833177089691162, + "y": 2.140115261077881, + "z": -3.6875 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.021928310394287, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+02.14|-03.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.8833177089691162, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 2.324089288711548, + -4.000973701477051 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -0.8833177089691162, + 1.9561412334442139, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 2.324089288711548, + -4.000973701477051 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -3.6807045936584473 + ], + [ + -1.3165552616119385, + 1.9561412334442139, + -4.000973701477051 + ] + ], + "center": { + "x": -1.0999364852905273, + "y": 2.140115261077881, + "z": -3.840839147567749 + }, + "size": { + "x": 0.43323755264282227, + "y": 0.367948055267334, + "z": 0.3202691078186035 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -1.0, + "y": 0.9009994864463806, + "z": -1.8000000715255737 + }, + "agent_rotation": { + "x": -0.0, + "y": 241.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.0, + "y": 1.5759994983673096, + "z": -1.8000000715255737 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Knife|-02.27|+00.92|-02.14", + "Apple|-02.66|+00.97|-01.55", + "Chair|-03.24|+00.00|-01.25", + "Bowl|-02.75|+00.92|-01.17", + "Pot|-02.24|+00.92|-01.88", + "Plate|-02.12|+00.92|-02.42", + "StoveBurner|-01.13|+00.93|-03.50", + "Mug|-02.59|+00.92|-02.31", + "Cup|-02.44|+00.92|-02.36", + "Shelf|-02.43|+00.52|-01.69", + "Shelf|-02.43|+00.15|-01.69", + "DiningTable|-02.43|+00.00|-01.69", + "Potato|-02.08|+00.95|-01.60", + "Pan|-02.17|+00.92|-01.10", + "Lettuce|-02.62|+01.01|-01.73", + "WineBottle|-02.44|+00.92|-02.14", + "Tomato|-02.67|+00.98|-02.01" + ], + "different_object": [ + "StoveBurner|-01.52|+00.93|-03.75", + "Window|-02.50|+01.78|-04.19", + "Blinds|-02.54|+02.70|-03.96", + "Cabinet|-01.76|+02.14|-03.69", + "Microwave|-01.32|+01.52|-03.80", + "StoveBurner|-01.52|+00.93|-03.50", + "GarbageCan|-01.94|00.00|-03.76", + "Chair|-03.26|+00.00|-02.09", + "Cabinet|-00.88|+02.14|-03.69" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/8/0_depth_npy.npy b/train/FloorPlan23/8/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8bc18504a3798dba8859b9fda72fa1e1ea4d3671 --- /dev/null +++ b/train/FloorPlan23/8/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30bc0d2bcc6b29b8b0ccac64073542ef33d092e9b69f9d1b86e6476d8c38b477 +size 3145856 diff --git a/train/FloorPlan23/8/0_semantic_sensor_npy.npy b/train/FloorPlan23/8/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..181ffd4905b1dcaf79e09ae9661188cd5a854a4b --- /dev/null +++ b/train/FloorPlan23/8/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0312cb6f966b84a8f8ddb3fe26393c6acf2f303588d9760597547a01088ca6dd +size 2359424 diff --git a/train/FloorPlan23/8/1.json b/train/FloorPlan23/8/1.json new file mode 100644 index 0000000000000000000000000000000000000000..9c25002d18147483660cba12555693dcf933072d --- /dev/null +++ b/train/FloorPlan23/8/1.json @@ -0,0 +1,5828 @@ +{ + "object": [ + { + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "object_info": { + "name": "WineBottle_1e7c21f9", + "position": { + "x": -2.443941831588745, + "y": 0.9175485968589783, + "z": -2.1426873207092285 + }, + "rotation": { + "x": 0.1289590746164322, + "y": 0.009751503355801105, + "z": 359.9483947753906 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": true, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.2000000476837158, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.7343287467956543, + "objectType": "WineBottle", + "objectId": "WineBottle|-02.44|+00.92|-02.14", + "assetId": "Wine_Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.3996644020080566, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.3996644020080566, + 0.917426586151123, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 1.2433788776397705, + -2.186783790588379 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.0981388092041016 + ], + [ + -2.4880385398864746, + 0.917426586151123, + -2.186783790588379 + ] + ], + "center": { + "x": -2.4438514709472656, + "y": 1.0804027318954468, + "z": -2.1424612998962402 + }, + "size": { + "x": 0.08837413787841797, + "y": 0.32595229148864746, + "z": 0.08864498138427734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3998405933380127, + 0.917401909828186, + -2.0986013412475586 + ], + [ + -2.488028049468994, + 0.9174813628196716, + -2.098586082458496 + ], + [ + -2.4880430698394775, + 0.9176798462867737, + -2.1867733001708984 + ], + [ + -2.399855613708496, + 0.9176003932952881, + -2.186788558959961 + ], + [ + -2.3995468616485596, + 1.243200659751892, + -2.0978682041168213 + ], + [ + -2.487734317779541, + 1.243280053138733, + -2.097852945327759 + ], + [ + -2.4877493381500244, + 1.243478536605835, + -2.186040163040161 + ], + [ + -2.399561882019043, + 1.2433991432189941, + -2.1860551834106445 + ] + ] + } + } + }, + { + "objectId": "Fridge|-00.33|+00.00|-00.77", + "object_info": { + "name": "Fridge_af47f8d0", + "position": { + "x": -0.33000001311302185, + "y": 0.0, + "z": -0.7699999809265137 + }, + "rotation": { + "x": -0.0, + "y": 270.00018310546875, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Egg|-00.41|+01.39|-01.01" + ], + "distance": 2.8308303356170654, + "objectType": "Fridge", + "objectId": "Fridge|-00.33|+00.00|-00.77", + "assetId": "Fridge_23", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.044583797454833984, + 2.029977321624756, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + 2.029977321624756, + -1.2536427974700928 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + 0.044583797454833984, + -0.008308887481689453, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + 2.029977321624756, + -1.2536427974700928 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -0.28635716438293457 + ], + [ + -0.7045862674713135, + -0.008308887481689453, + -1.2536427974700928 + ] + ], + "center": { + "x": -0.33000123500823975, + "y": 1.0108342170715332, + "z": -0.7699999809265137 + }, + "size": { + "x": 0.7491700649261475, + "y": 2.0382862091064453, + "z": 0.9672856330871582 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|-03.24|+00.00|-01.25", + "object_info": { + "name": "Chair_5045bb3f", + "position": { + "x": -3.2400150299072266, + "y": 0.0020215511322021484, + "z": -1.2531909942626953 + }, + "rotation": { + "x": 359.8515930175781, + "y": 117.25601959228516, + "z": 0.027948230504989624 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "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": 1.1971070766448975, + "objectType": "Chair", + "objectId": "Chair|-03.24|+00.00|-01.25", + "assetId": "Chair_007_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.900599479675293, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -2.900599479675293, + 4.76837158203125e-07, + -1.574432134628296 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 1.0479899644851685, + -1.574432134628296 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -0.9339163303375244 + ], + [ + -3.563936233520508, + 4.76837158203125e-07, + -1.574432134628296 + ] + ], + "center": { + "x": -3.2322678565979004, + "y": 0.5239952206611633, + "z": -1.2541742324829102 + }, + "size": { + "x": 0.6633367538452148, + "y": 1.0479894876480103, + "z": 0.6405158042907715 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1090729236602783, + 0.00030380324460566044, + -1.5831894874572754 + ], + [ + -2.895432710647583, + 7.625250145792961e-05, + -1.1684894561767578 + ], + [ + -3.3708574771881104, + -0.0013090153224766254, + -0.9235662817955017 + ], + [ + -3.5844979286193848, + -0.0010814645793288946, + -1.338266372680664 + ], + [ + -3.1112542152404785, + 1.0494149923324585, + -1.5814900398254395 + ], + [ + -2.897614002227783, + 1.049187421798706, + -1.1667900085449219 + ], + [ + -3.3730387687683105, + 1.047802209854126, + -0.9218668341636658 + ], + [ + -3.586679220199585, + 1.0480297803878784, + -1.3365669250488281 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "object_info": { + "name": "Cabinet_b8c26787", + "position": { + "x": -0.8778074383735657, + "y": 0.3888453543186188, + "z": -3.422300100326538 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.647717237472534, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.88|+00.39|-03.42", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.6206655502319336, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.6206655502319336, + 0.06014609336853027, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.7175445556640625, + -3.739914894104004 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.4155054092407227 + ], + [ + -0.8778074979782104, + 0.06014609336853027, + -3.739914894104004 + ] + ], + "center": { + "x": -0.749236524105072, + "y": 0.3888453245162964, + "z": -3.5777101516723633 + }, + "size": { + "x": 0.25714194774627686, + "y": 0.6573984622955322, + "z": 0.32440948486328125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bread|-00.41|+00.95|-03.63", + "object_info": { + "name": "Bread_f96c26f0", + "position": { + "x": -0.4149998128414154, + "y": 0.9529227018356323, + "z": -3.6259987354278564 + }, + "rotation": { + "x": 0.000326992740156129, + "y": 0.00044737421558238566, + "z": 0.0017797874752432108 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 4.056696891784668, + "objectType": "Bread", + "objectId": "Bread|-00.41|+00.95|-03.63", + "assetId": "Bread_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.2806691527366638, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.2806691527366638, + 0.9038989543914795, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 1.036117672920227, + -3.7588229179382324 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.4876694679260254 + ], + [ + -0.5518243908882141, + 0.9038989543914795, + -3.7588229179382324 + ] + ], + "center": { + "x": -0.41624677181243896, + "y": 0.9700083136558533, + "z": -3.623246192932129 + }, + "size": { + "x": 0.2711552381515503, + "y": 0.13221871852874756, + "z": 0.27115345001220703 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.28066736459732056, + 0.9039061069488525, + -3.4876699447631836 + ], + [ + -0.5518218278884888, + 0.9038977026939392, + -3.4876677989959717 + ], + [ + -0.5518239736557007, + 0.9038992524147034, + -3.7588233947753906 + ], + [ + -0.2806694805622101, + 0.9039076566696167, + -3.7588255405426025 + ], + [ + -0.28067147731781006, + 1.0361192226409912, + -3.487668991088867 + ], + [ + -0.5518259406089783, + 1.036110758781433, + -3.4876670837402344 + ], + [ + -0.5518280267715454, + 1.0361123085021973, + -3.7588226795196533 + ], + [ + -0.2806735932826996, + 1.0361207723617554, + -3.7588248252868652 + ] + ] + } + } + }, + { + "objectId": "Apple|-02.66|+00.97|-01.55", + "object_info": { + "name": "Apple_2ba3106f", + "position": { + "x": -2.6642165184020996, + "y": 0.9698506593704224, + "z": -1.5534882545471191 + }, + "rotation": { + "x": 287.0157775878906, + "y": 78.00313568115234, + "z": 264.7973937988281 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 1.1078486442565918, + "objectType": "Apple", + "objectId": "Apple|-02.66|+00.97|-01.55", + "assetId": "Apple_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.614089012145996, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.614089012145996, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.614089012145996, + 0.917456865310669, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.481093168258667 + ], + [ + -2.722872734069824, + 1.0230201482772827, + -1.5979406833648682 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.481093168258667 + ], + [ + -2.722872734069824, + 0.917456865310669, + -1.5979406833648682 + ] + ], + "center": { + "x": -2.66848087310791, + "y": 0.9702385067939758, + "z": -1.5395169258117676 + }, + "size": { + "x": 0.10878372192382812, + "y": 0.10556328296661377, + "z": 0.11684751510620117 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6225216388702393, + 1.0067776441574097, + -1.4651191234588623 + ], + [ + -2.718568801879883, + 1.0374480485916138, + -1.495285153388977 + ], + [ + -2.7486934661865234, + 0.9368139505386353, + -1.5016865730285645 + ], + [ + -2.65264630317688, + 0.9061435461044312, + -1.4715205430984497 + ], + [ + -2.588268280029297, + 1.0036628246307373, + -1.5773470401763916 + ], + [ + -2.6843152046203613, + 1.0343332290649414, + -1.607513189315796 + ], + [ + -2.714439868927002, + 0.9336991906166077, + -1.6139146089553833 + ], + [ + -2.6183929443359375, + 0.9030287861824036, + -1.5837485790252686 + ] + ] + } + } + }, + { + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "object_info": { + "name": "StoveBurner_dafa9430", + "position": { + "x": -1.1294000148773193, + "y": 0.9282000064849854, + "z": -3.4986000061035156 + }, + "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": true, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.534329652786255, + "objectType": "StoveBurner", + "objectId": "StoveBurner|-01.13|+00.93|-03.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.0198074579238892, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.0198074579238892, + 0.9262092113494873, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9307794570922852, + -3.6081924438476562 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.389007568359375 + ], + [ + -1.2389925718307495, + 0.9262092113494873, + -3.6081924438476562 + ] + ], + "center": { + "x": -1.1294000148773193, + "y": 0.9284943342208862, + "z": -3.4986000061035156 + }, + "size": { + "x": 0.21918511390686035, + "y": 0.0045702457427978516, + "z": 0.21918487548828125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pencil|-02.22|+00.92|-00.86", + "object_info": { + "name": "Pencil_4c8adf09", + "position": { + "x": -2.2215962409973145, + "y": 0.9221874475479126, + "z": -0.8557119965553284 + }, + "rotation": { + "x": 359.9930725097656, + "y": 306.0944519042969, + "z": 359.8541564941406 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.856091320514679, + "objectType": "Pencil", + "objectId": "Pencil|-02.22|+00.92|-00.86", + "assetId": "Pencil_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1525981426239014, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.1525981426239014, + 0.9174500107765198, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9269257187843323, + -0.9072965383529663 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.8003668785095215 + ], + [ + -2.2957522869110107, + 0.9174500107765198, + -0.9072965383529663 + ] + ], + "center": { + "x": -2.224175214767456, + "y": 0.922187864780426, + "z": -0.8538317084312439 + }, + "size": { + "x": 0.14315414428710938, + "y": 0.0094757080078125, + "z": 0.10692965984344482 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.292067050933838, + 0.9174585938453674, + -0.7984981536865234 + ], + [ + -2.297637701034546, + 0.9174826741218567, + -0.8061388731002808 + ], + [ + -2.1562986373901367, + 0.9174615144729614, + -0.9091840386390686 + ], + [ + -2.1507279872894287, + 0.9174374341964722, + -0.9015433192253113 + ], + [ + -2.2920520305633545, + 0.9269142150878906, + -0.7984793782234192 + ], + [ + -2.2976224422454834, + 0.9269382357597351, + -0.8061200976371765 + ], + [ + -2.1562836170196533, + 0.9269170761108398, + -0.9091652631759644 + ], + [ + -2.1507129669189453, + 0.9268929958343506, + -0.901524543762207 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "object_info": { + "name": "DiningTable_faa04a7c", + "position": { + "x": -2.4322762489318848, + "y": 0.00027304887771606445, + "z": -1.6942250728607178 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": 85.0, + "salientMaterials": [ + "Wood", + "Plastic" + ], + "receptacleObjectIds": [ + "Pan|-02.17|+00.92|-01.10", + "Pencil|-02.22|+00.92|-00.86", + "Potato|-02.08|+00.95|-01.60", + "Pot|-02.24|+00.92|-01.88", + "Knife|-02.27|+00.92|-02.14", + "Pen|-02.33|+00.92|-00.89", + "Plate|-02.12|+00.92|-02.42", + "Bottle|-02.70|+00.92|-00.88", + "Bowl|-02.75|+00.92|-01.17", + "Lettuce|-02.62|+01.01|-01.73", + "Apple|-02.66|+00.97|-01.55", + "WineBottle|-02.44|+00.92|-02.14", + "Cup|-02.44|+00.92|-02.36", + "Mug|-02.59|+00.92|-02.31", + "Tomato|-02.67|+00.98|-02.01" + ], + "distance": 1.5999349355697632, + "objectType": "DiningTable", + "objectId": "DiningTable|-02.43|+00.00|-01.69", + "assetId": "Dining_Table_23_1", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.962907314300537, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -1.962907314300537, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -1.962907314300537, + 1.0132789611816406e-06, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 0.9174689650535583, + -2.6213579177856445 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -0.765709638595581 + ], + [ + -2.8890480995178223, + 1.0132789611816406e-06, + -2.6213579177856445 + ] + ], + "center": { + "x": -2.4259777069091797, + "y": 0.45873498916625977, + "z": -1.6935337781906128 + }, + "size": { + "x": 0.9261407852172852, + "y": 0.9174679517745972, + "z": 1.8556482791900635 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.8868134021759033, + -1.268868800252676e-06, + -0.765705406665802 + ], + [ + -2.8890485763549805, + -3.469554940238595e-06, + -2.620245933532715 + ], + [ + -1.9651356935501099, + -1.4436664059758186e-06, + -2.621359348297119 + ], + [ + -1.9629004001617432, + 7.570197340101004e-07, + -0.7668190002441406 + ], + [ + -2.8868155479431152, + 0.9174671769142151, + -0.765706479549408 + ], + [ + -2.8890507221221924, + 0.9174650311470032, + -2.6202468872070312 + ], + [ + -1.9651377201080322, + 0.9174670577049255, + -2.6213603019714355 + ], + [ + -1.9629024267196655, + 0.9174692034721375, + -0.7668200731277466 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "object_info": { + "name": "Cabinet_a60950d9", + "position": { + "x": -0.33000001311302185, + "y": 1.9215608835220337, + "z": -3.390000104904175 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 4.064793586730957, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.33|+01.92|-03.39", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.10623770952224731, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.10623770952224731, + 1.5191383361816406, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 2.3239829540252686, + -3.8905386924743652 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.381831645965576 + ], + [ + -0.6675931215286255, + 1.5191383361816406, + -3.8905386924743652 + ] + ], + "center": { + "x": -0.3869154155254364, + "y": 1.9215606451034546, + "z": -3.6361851692199707 + }, + "size": { + "x": 0.5613554120063782, + "y": 0.8048446178436279, + "z": 0.5087070465087891 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pen|-02.33|+00.92|-00.89", + "object_info": { + "name": "Pen_2adff400", + "position": { + "x": -2.329202175140381, + "y": 0.9231052994728088, + "z": -0.8935049176216125 + }, + "rotation": { + "x": -0.0054534790106117725, + "y": 287.142578125, + "z": 1.2106865644454956 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 0.7780131697654724, + "objectType": "Pen", + "objectId": "Pen|-02.33|+00.92|-00.89", + "assetId": "Pen_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.239663600921631, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.239663600921631, + 0.9174520373344421, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.928759753704071, + -0.9250274300575256 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.8581624627113342 + ], + [ + -2.4311251640319824, + 0.9174520373344421, + -0.9250274300575256 + ] + ], + "center": { + "x": -2.3353943824768066, + "y": 0.9231058955192566, + "z": -0.8915949463844299 + }, + "size": { + "x": 0.19146156311035156, + "y": 0.011307716369628906, + "z": 0.0668649673461914 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.429176092147827, + 0.9175910949707031, + -0.8566364645957947 + ], + [ + -2.4325032234191895, + 0.917352557182312, + -0.8674226999282837 + ], + [ + -2.2415432929992676, + 0.9173335433006287, + -0.9263250827789307 + ], + [ + -2.2382161617279053, + 0.9175720810890198, + -0.9155389070510864 + ], + [ + -2.4292454719543457, + 0.9288783073425293, + -0.8568646907806396 + ], + [ + -2.432572364807129, + 0.9286397695541382, + -0.8676509261131287 + ], + [ + -2.241612434387207, + 0.9286206960678101, + -0.9265533685684204 + ], + [ + -2.2382853031158447, + 0.928859293460846, + -0.9157671332359314 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "object_info": { + "name": "Cabinet_4e3c2fd4", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -1.5435960292816162 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.137589693069458, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-01.54", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.1063777506351471, + 1.956141471862793, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 2.3240885734558105, + -1.9982249736785889 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.5435960292816162 + ], + [ + -0.3197949528694153, + 1.956141471862793, + -1.9982249736785889 + ] + ], + "center": { + "x": -0.2130863517522812, + "y": 2.1401150226593018, + "z": -1.7709105014801025 + }, + "size": { + "x": 0.2134172022342682, + "y": 0.3679471015930176, + "z": 0.45462894439697266 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sink|-00.35|+00.91|-02.01", + "object_info": { + "name": "Sink_547ac4de", + "position": { + "x": -0.3494262099266052, + "y": 0.9079999923706055, + "z": -2.0141079425811768 + }, + "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": 3.052558422088623, + "objectType": "Sink", + "objectId": "Sink|-00.35|+00.91|-02.01", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.12314677238464355, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.12314677238464355, + 0.7866411209106445, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.9132485389709473, + -2.356334924697876 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -1.6718809604644775 + ], + [ + -0.5757056474685669, + 0.7866411209106445, + -2.356334924697876 + ] + ], + "center": { + "x": -0.3494262099266052, + "y": 0.8499448299407959, + "z": -2.0141079425811768 + }, + "size": { + "x": 0.45255887508392334, + "y": 0.12660741806030273, + "z": 0.6844539642333984 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "object_info": { + "name": "CounterTop_10f48133", + "position": { + "x": -0.30399999022483826, + "y": 0.9513000249862671, + "z": -2.7939999103546143 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "SoapBottle|-00.18|+00.90|-02.46", + "Spatula|-00.30|+00.91|-02.54", + "Toaster|-00.18|+00.90|-02.76", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Bread|-00.41|+00.95|-03.63", + "ButterKnife|-00.31|+00.91|-03.44", + "PepperShaker|-00.44|+00.90|-03.35", + "SaltShaker|-00.83|+00.90|-03.77", + "DishSponge|-00.07|+00.91|-01.69", + "Faucet|-00.08|+00.90|-02.03" + ], + "distance": 3.5402517318725586, + "objectType": "CounterTop", + "objectId": "CounterTop|-00.30|+00.95|-02.79", + "assetId": "", + "parentReceptacles": [ + "Sink|-00.35|+00.91|-02.01|SinkBasin" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.002397596836090088, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.002397596836090088, + 0.9027235507965088, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9223001003265381, + -4.317945957183838 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -1.6102633476257324 + ], + [ + -0.8826808929443359, + 0.9027235507965088, + -4.317945957183838 + ] + ], + "center": { + "x": -0.442539244890213, + "y": 0.9125118255615234, + "z": -2.964104652404785 + }, + "size": { + "x": 0.8802832961082458, + "y": 0.019576549530029297, + "z": 2.7076826095581055 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mug|-02.59|+00.92|-02.31", + "object_info": { + "name": "Mug_086d7737", + "position": { + "x": -2.5879316329956055, + "y": 0.9174661636352539, + "z": -2.3061656951904297 + }, + "rotation": { + "x": -0.0010769395157694817, + "y": -0.0003376265231054276, + "z": -0.0025768287014216185 + }, + "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": 1.852648377418518, + "objectType": "Mug", + "objectId": "Mug|-02.59|+00.92|-02.31", + "assetId": "Mug_3", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.547427177429199, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.547427177429199, + 0.9174638986587524, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 1.0211035013198853, + -2.3518078327178955 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.2608253955841064 + ], + [ + -2.6569299697875977, + 0.9174638986587524, + -2.3518078327178955 + ] + ], + "center": { + "x": -2.6021785736083984, + "y": 0.9692836999893188, + "z": -2.306316614151001 + }, + "size": { + "x": 0.10950279235839844, + "y": 0.10363960266113281, + "z": 0.09098243713378906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.5474321842193604, + 0.917465090751648, + -2.2608249187469482 + ], + [ + -2.6569321155548096, + 0.9174700379371643, + -2.2608256340026855 + ], + [ + -2.6569316387176514, + 0.9174683094024658, + -2.351806402206421 + ], + [ + -2.547431468963623, + 0.9174634218215942, + -2.3518056869506836 + ], + [ + -2.5474274158477783, + 1.021100401878357, + -2.26082706451416 + ], + [ + -2.6569273471832275, + 1.0211052894592285, + -2.2608275413513184 + ], + [ + -2.6569268703460693, + 1.0211036205291748, + -2.3518083095550537 + ], + [ + -2.54742693901062, + 1.0210986137390137, + -2.3518075942993164 + ] + ] + } + } + }, + { + "objectId": "Spatula|-00.30|+00.91|-02.54", + "object_info": { + "name": "Spatula_dcfbe216", + "position": { + "x": -0.3000072240829468, + "y": 0.9114855527877808, + "z": -2.5440123081207275 + }, + "rotation": { + "x": 0.009635946713387966, + "y": 292.9052429199219, + "z": 0.06495372951030731 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.06499999761581421, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.3864519596099854, + "objectType": "Spatula", + "objectId": "Spatula|-00.30|+00.91|-02.54", + "assetId": "Spatula_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.22629064321517944, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.22629064321517944, + 0.9038516283035278, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.921217679977417, + -2.580939769744873 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.428610324859619 + ], + [ + -0.5157862305641174, + 0.9038516283035278, + -2.580939769744873 + ] + ], + "center": { + "x": -0.37103843688964844, + "y": 0.9125346541404724, + "z": -2.504775047302246 + }, + "size": { + "x": 0.289495587348938, + "y": 0.01736605167388916, + "z": 0.1523294448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.49084410071372986, + 0.9038761854171753, + -2.4285964965820312 + ], + [ + -0.5157778263092041, + 0.9038035273551941, + -2.487607717514038 + ], + [ + -0.2417248785495758, + 0.9038535952568054, + -2.6034018993377686 + ], + [ + -0.21679115295410156, + 0.9039261937141418, + -2.5443904399871826 + ], + [ + -0.4908544421195984, + 0.9212175607681274, + -2.4286134243011475 + ], + [ + -0.515788197517395, + 0.921144962310791, + -2.4876246452331543 + ], + [ + -0.24173521995544434, + 0.9211949706077576, + -2.6034188270568848 + ], + [ + -0.2168014943599701, + 0.921267569065094, + -2.544407367706299 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.15|-01.69", + "object_info": { + "name": "Shelf_56e7d2ea", + "position": { + "x": -2.432276487350464, + "y": 0.15027305483818054, + "z": -1.6942251920700073 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.5205506086349487, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.15|-01.69", + "assetId": "", + "parentReceptacles": [ + "Floor|-00.94|00.00|+00.32" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0256943702697754, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.0256943702697754, + 0.1502707600593567, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.3537713289260864, + -2.5611023902893066 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -0.8273420333862305 + ], + [ + -2.8388595581054688, + 0.1502707600593567, + -2.5611023902893066 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.25202104449272156, + "z": -1.6942222118377686 + }, + "size": { + "x": 0.8131651878356934, + "y": 0.20350056886672974, + "z": 1.7337603569030762 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|-02.75|+00.92|-01.17", + "object_info": { + "name": "Bowl_e22666b5", + "position": { + "x": -2.7545571327209473, + "y": 0.9190171360969543, + "z": -1.1747468709945679 + }, + "rotation": { + "x": 359.9842834472656, + "y": 18.85690689086914, + "z": 0.17773032188415527 + }, + "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": 0.7182270884513855, + "objectType": "Bowl", + "objectId": "Bowl|-02.75|+00.92|-01.17", + "assetId": "Bowl_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6211795806884766, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.6211795806884766, + 0.9174214601516724, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 1.0074704885482788, + -1.3091671466827393 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.0399205684661865 + ], + [ + -2.8877716064453125, + 0.9174214601516724, + -1.3091671466827393 + ] + ], + "center": { + "x": -2.7544755935668945, + "y": 0.9624459743499756, + "z": -1.174543857574463 + }, + "size": { + "x": 0.26659202575683594, + "y": 0.09004902839660645, + "z": 0.26924657821655273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6148741245269775, + 0.9176567196846008, + -1.102383017539978 + ], + [ + -2.8213882446289062, + 0.9169797897338867, + -1.031850814819336 + ], + [ + -2.894920587539673, + 0.9169173240661621, + -1.2471497058868408 + ], + [ + -2.688406467437744, + 0.9175942540168762, + -1.3176820278167725 + ], + [ + -2.615147590637207, + 1.0081188678741455, + -1.102315902709961 + ], + [ + -2.821661949157715, + 1.0074419975280762, + -1.0317835807800293 + ], + [ + -2.8951942920684814, + 1.0073795318603516, + -1.2470824718475342 + ], + [ + -2.6886801719665527, + 1.0080565214157104, + -1.3176147937774658 + ] + ] + } + } + }, + { + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "object_info": { + "name": "CoffeeMachine_7a36a9f1", + "position": { + "x": -0.15352797508239746, + "y": 0.9039046168327332, + "z": -3.1440649032592773 + }, + "rotation": { + "x": 8.349097333848476e-05, + "y": 270.2561340332031, + "z": 0.0011625707847997546 + }, + "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": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 3.8850340843200684, + "objectType": "CoffeeMachine", + "objectId": "CoffeeMachine|-00.15|+00.90|-03.14", + "assetId": "coffee_machine_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.016333550214767456, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.016333550214767456, + 0.9039011001586914, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 1.3461523056030273, + -3.292024612426758 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -2.995229721069336 + ], + [ + -0.48855361342430115, + 0.9039011001586914, + -3.292024612426758 + ] + ], + "center": { + "x": -0.2524435818195343, + "y": 1.1250267028808594, + "z": -3.143627166748047 + }, + "size": { + "x": 0.4722200632095337, + "y": 0.44225120544433594, + "z": 0.2967948913574219 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.4872363805770874, + 0.9039068818092346, + -2.995229721069336 + ], + [ + -0.4885537028312683, + 0.9039008617401123, + -3.2899105548858643 + ], + [ + -0.017650678753852844, + 0.9039015769958496, + -3.292015790939331 + ], + [ + -0.01633332669734955, + 0.9039075374603271, + -2.9973347187042236 + ], + [ + -0.48723703622817993, + 1.3461517095565796, + -2.9952385425567627 + ], + [ + -0.4885544180870056, + 1.346145749092102, + -3.28991961479187 + ], + [ + -0.01765136420726776, + 1.3461464643478394, + -3.292024850845337 + ], + [ + -0.016334012150764465, + 1.346152424812317, + -2.9973437786102295 + ] + ] + } + } + }, + { + "objectId": "Pan|-02.17|+00.92|-01.10", + "object_info": { + "name": "Pan_c53dc13a", + "position": { + "x": -2.1748831272125244, + "y": 0.9174724221229553, + "z": -1.0990588665008545 + }, + "rotation": { + "x": 0.0042611295357346535, + "y": 0.00022818219440523535, + "z": 0.013322141952812672 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6700000166893005, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.019784688949585, + "objectType": "Pan", + "objectId": "Pan|-02.17|+00.92|-01.10", + "assetId": "Pan_14", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0354957580566406, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.0354957580566406, + 0.9170130491256714, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 1.018815517425537, + -1.4031975269317627 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -0.9596583843231201 + ], + [ + -2.3142900466918945, + 0.9170130491256714, + -1.4031975269317627 + ] + ], + "center": { + "x": -2.1748929023742676, + "y": 0.9679142832756042, + "z": -1.1814279556274414 + }, + "size": { + "x": 0.2787942886352539, + "y": 0.10180246829986572, + "z": 0.4435391426086426 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0354843139648438, + 0.9170713424682617, + -0.9596614837646484 + ], + [ + -2.3142805099487305, + 0.9170064926147461, + -0.9596603512763977 + ], + [ + -2.3142824172973633, + 0.9170395135879517, + -1.4032062292099 + ], + [ + -2.0354859828948975, + 0.9171043038368225, + -1.4032073020935059 + ], + [ + -2.035507917404175, + 1.0188132524490356, + -0.959653913974762 + ], + [ + -2.3143043518066406, + 1.01874840259552, + -0.9596527814865112 + ], + [ + -2.3143060207366943, + 1.0187814235687256, + -1.4031987190246582 + ], + [ + -2.0355095863342285, + 1.0188461542129517, + -1.4031997919082642 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "object_info": { + "name": "Cabinet_2961f9d8", + "position": { + "x": -0.5840244293212891, + "y": 0.3888453245162964, + "z": -3.396862745285034 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.8067116737365723, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-03.40", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26640987396240234, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.26640987396240234, + 0.06014668941497803, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.7175439596176147, + -3.396862506866455 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.139720916748047 + ], + [ + -0.5908192992210388, + 0.06014668941497803, + -3.396862506866455 + ] + ], + "center": { + "x": -0.4286145865917206, + "y": 0.3888453245162964, + "z": -3.268291711807251 + }, + "size": { + "x": 0.3244094252586365, + "y": 0.6573972702026367, + "z": 0.2571415901184082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "object_info": { + "name": "PepperShaker_ee67ff69", + "position": { + "x": -0.4390003979206085, + "y": 0.9039769172668457, + "z": -3.346998929977417 + }, + "rotation": { + "x": 359.9942321777344, + "y": 0.00011958464165218174, + "z": -0.0011222263565286994 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 3.8293774127960205, + "objectType": "PepperShaker", + "objectId": "PepperShaker|-00.44|+00.90|-03.35", + "assetId": "Pepper_Shaker_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.40527260303497314, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.40527260303497314, + 0.9038988351821899, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 1.018056035041809, + -3.380612373352051 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.3135080337524414 + ], + [ + -0.4721609354019165, + 0.9038988351821899, + -3.380612373352051 + ] + ], + "center": { + "x": -0.4387167692184448, + "y": 0.9609774351119995, + "z": -3.347060203552246 + }, + "size": { + "x": 0.06688833236694336, + "y": 0.11415719985961914, + "z": 0.06710433959960938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.40527480840682983, + 0.9039052724838257, + -3.3135077953338623 + ], + [ + -0.47216081619262695, + 0.9039065837860107, + -3.3135077953338623 + ], + [ + -0.4721609354019165, + 0.9038998484611511, + -3.380600690841675 + ], + [ + -0.4052749276161194, + 0.9038985371589661, + -3.380600690841675 + ], + [ + -0.40527257323265076, + 1.0180550813674927, + -3.313519239425659 + ], + [ + -0.4721585810184479, + 1.0180563926696777, + -3.313519239425659 + ], + [ + -0.4721587300300598, + 1.018049716949463, + -3.3806121349334717 + ], + [ + -0.4052727222442627, + 1.0180482864379883, + -3.3806121349334717 + ] + ] + } + } + }, + { + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "object_info": { + "name": "Lettuce_b836fe44", + "position": { + "x": -2.617082357406616, + "y": 1.0075485706329346, + "z": -1.7295762300491333 + }, + "rotation": { + "x": 359.7564697265625, + "y": 0.5527418255805969, + "z": 34.95075988769531 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": true, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.2922214269638062, + "objectType": "Lettuce", + "objectId": "Lettuce|-02.62|+01.01|-01.73", + "assetId": "Lettuce_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.5285561084747314, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.5285561084747314, + 0.9174561500549316, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 1.10182785987854, + -1.8525049686431885 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.6023457050323486 + ], + [ + -2.713087320327759, + 0.9174561500549316, + -1.8525049686431885 + ] + ], + "center": { + "x": -2.620821714401245, + "y": 1.0096420049667358, + "z": -1.7274253368377686 + }, + "size": { + "x": 0.18453121185302734, + "y": 0.1843717098236084, + "z": 0.25015926361083984 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.491161584854126, + 0.9875176548957825, + -1.6035196781158447 + ], + [ + -2.64216685295105, + 0.8819689750671387, + -1.601614236831665 + ], + [ + -2.6445798873901367, + 0.88090580701828, + -1.8517355918884277 + ], + [ + -2.493574619293213, + 0.9864544868469238, + -1.8536410331726074 + ], + [ + -2.596712589263916, + 1.1385329961776733, + -1.6031432151794434 + ], + [ + -2.74771785736084, + 1.0329842567443848, + -1.6012377738952637 + ], + [ + -2.7501308917999268, + 1.031921148300171, + -1.8513591289520264 + ], + [ + -2.599125623703003, + 1.13746976852417, + -1.853264570236206 + ] + ] + } + } + }, + { + "objectId": "Potato|-02.08|+00.95|-01.60", + "object_info": { + "name": "Potato_097cac87", + "position": { + "x": -2.0824663639068604, + "y": 0.9517925977706909, + "z": -1.595628023147583 + }, + "rotation": { + "x": 0.09599222987890244, + "y": 295.7773132324219, + "z": 0.3481499254703522 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": true, + "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": 0.18000000715255737, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.42998206615448, + "objectType": "Potato", + "objectId": "Potato|-02.08|+00.95|-01.60", + "assetId": "Potato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0365054607391357, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.0365054607391357, + 0.9174559712409973, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9853498339653015, + -1.6359621286392212 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.5549651384353638 + ], + [ + -2.1315863132476807, + 0.9174559712409973, + -1.6359621286392212 + ] + ], + "center": { + "x": -2.084045886993408, + "y": 0.9514029026031494, + "z": -1.5954636335372925 + }, + "size": { + "x": 0.09508085250854492, + "y": 0.0678938627243042, + "z": 0.08099699020385742 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.11331844329834, + 0.9176058173179626, + -1.5434285402297974 + ], + [ + -2.1428205966949463, + 0.9171935319900513, + -1.6045199632644653 + ], + [ + -2.0544910430908203, + 0.9173579216003418, + -1.64717698097229 + ], + [ + -2.024988889694214, + 0.9177701473236084, + -1.586085557937622 + ], + [ + -2.113600015640259, + 0.9854477643966675, + -1.5437504053115845 + ], + [ + -2.1431021690368652, + 0.9850355386734009, + -1.6048418283462524 + ], + [ + -2.0547726154327393, + 0.9851998686790466, + -1.6474988460540771 + ], + [ + -2.025270462036133, + 0.985612154006958, + -1.5864073038101196 + ] + ] + } + } + }, + { + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "object_info": { + "name": "SoapBottle_8f65dd15", + "position": { + "x": -0.18300113081932068, + "y": 0.9049521684646606, + "z": -2.458002805709839 + }, + "rotation": { + "x": -0.002441634191200137, + "y": 330.0024108886719, + "z": 0.0016415714053437114 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "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": 3.4306375980377197, + "objectType": "SoapBottle", + "objectId": "SoapBottle|-00.18|+00.90|-02.46", + "assetId": "Soap_Bottle_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.11794430017471313, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.11794430017471313, + 0.9038873910903931, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 1.1091192960739136, + -2.5231170654296875 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.392889976501465 + ], + [ + -0.24805831909179688, + 0.9038873910903931, + -2.5231170654296875 + ] + ], + "center": { + "x": -0.183001309633255, + "y": 1.0065033435821533, + "z": -2.458003520965576 + }, + "size": { + "x": 0.13011401891708374, + "y": 0.2052319049835205, + "z": 0.13022708892822266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.16073672473430634, + 0.9038940072059631, + -2.3749237060546875 + ], + [ + -0.26607993245124817, + 0.9038904905319214, + -2.4357378482818604 + ], + [ + -0.2052655816078186, + 0.9038853049278259, + -2.541081666946411 + ], + [ + -0.09992236644029617, + 0.9038888216018677, + -2.4802675247192383 + ], + [ + -0.16073743999004364, + 1.1091229915618896, + -2.374934434890747 + ], + [ + -0.2660806477069855, + 1.1091195344924927, + -2.435748338699341 + ], + [ + -0.2052662968635559, + 1.1091142892837524, + -2.5410921573638916 + ], + [ + -0.09992308169603348, + 1.1091177463531494, + -2.4802780151367188 + ] + ] + } + } + }, + { + "objectId": "Shelf|-02.43|+00.52|-01.69", + "object_info": { + "name": "Shelf_30ef1d32", + "position": { + "x": -2.4322774410247803, + "y": 0.5235730409622192, + "z": -1.6942256689071655 + }, + "rotation": { + "x": 0.00012563297059386969, + "y": 270.0690612792969, + "z": 6.798962567700073e-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": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.375112533569336, + "objectType": "Shelf", + "objectId": "Shelf|-02.43|+00.52|-01.69", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.099091053009033, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.099091053009033, + 0.5235707759857178, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.7270711660385132, + -2.499572992324829 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -0.8888719081878662 + ], + [ + -2.765462875366211, + 0.5235707759857178, + -2.499572992324829 + ] + ], + "center": { + "x": -2.432276964187622, + "y": 0.6253209710121155, + "z": -1.6942224502563477 + }, + "size": { + "x": 0.6663718223571777, + "y": 0.2035003900527954, + "z": 1.610701084136963 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Tomato|-02.67|+00.98|-02.01", + "object_info": { + "name": "Tomato_7bbb93e8", + "position": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "rotation": { + "x": 296.77838134765625, + "y": 65.93732452392578, + "z": 267.02294921875 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": 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": 0.11999998986721039, + "salientMaterials": [ + "Food" + ], + "receptacleObjectIds": null, + "distance": 1.551596999168396, + "objectType": "Tomato", + "objectId": "Tomato|-02.67|+00.98|-02.01", + "assetId": "Tomato_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6090409755706787, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.6090409755706787, + 0.9174561500549316, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 1.0365020036697388, + -2.0797524452209473 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -1.9492316246032715 + ], + [ + -2.7337100505828857, + 0.9174561500549316, + -2.0797524452209473 + ] + ], + "center": { + "x": -2.6713755130767822, + "y": 0.9769790768623352, + "z": -2.0144920349121094 + }, + "size": { + "x": 0.12466907501220703, + "y": 0.11904585361480713, + "z": 0.13052082061767578 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6295320987701416, + 1.004812479019165, + -1.9202831983566284 + ], + [ + -2.7236788272857666, + 1.0582361221313477, + -1.9690771102905273 + ], + [ + -2.7725257873535156, + 0.9522328972816467, + -1.990889310836792 + ], + [ + -2.6783792972564697, + 0.8988091945648193, + -1.942095398902893 + ], + [ + -2.570225238800049, + 1.001725196838379, + -2.0380947589874268 + ], + [ + -2.6643717288970947, + 1.055148959159851, + -2.086888551712036 + ], + [ + -2.713218927383423, + 0.9491457343101501, + -2.108700752258301 + ], + [ + -2.619072198867798, + 0.8957220315933228, + -2.0599069595336914 + ] + ] + } + } + }, + { + "objectId": "Bottle|-02.70|+00.92|-00.88", + "object_info": { + "name": "Bottle_8a9e1c45", + "position": { + "x": -2.7022366523742676, + "y": 0.917555570602417, + "z": -0.8817965984344482 + }, + "rotation": { + "x": 359.966796875, + "y": -0.0034244114067405462, + "z": 359.9938659667969 + }, + "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": 0.4844644069671631, + "objectType": "Bottle", + "objectId": "Bottle|-02.70|+00.92|-00.88", + "assetId": "Bottle_1", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.6488449573516846, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.6488449573516846, + 0.9174606800079346, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 1.171015977859497, + -0.9352260828018188 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.8284600973129272 + ], + [ + -2.7556111812591553, + 0.9174606800079346, + -0.9352260828018188 + ] + ], + "center": { + "x": -2.70222806930542, + "y": 1.0442383289337158, + "z": -0.881843090057373 + }, + "size": { + "x": 0.1067662239074707, + "y": 0.2535552978515625, + "z": 0.1067659854888916 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.6488568782806396, + 0.9175112247467041, + -0.8284103870391846 + ], + [ + -2.7556228637695312, + 0.9175226092338562, + -0.8284167647361755 + ], + [ + -2.7556164264678955, + 0.9174607396125793, + -0.9351827502250671 + ], + [ + -2.648850440979004, + 0.9174493551254272, + -0.9351763725280762 + ], + [ + -2.648829698562622, + 1.171027660369873, + -0.8285573124885559 + ], + [ + -2.7555956840515137, + 1.17103910446167, + -0.8285636901855469 + ], + [ + -2.755589246749878, + 1.170977234840393, + -0.9353296756744385 + ], + [ + -2.6488232612609863, + 1.1709657907485962, + -0.9353232979774475 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "object_info": { + "name": "Cabinet_f6d76189", + "position": { + "x": -0.30274397134780884, + "y": 1.9167251586914062, + "z": -2.50178599357605 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.509136199951172, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.30|+01.92|-02.50", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.09590539336204529, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.09590539336204529, + 1.5141339302062988, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 2.3193163871765137, + -3.3433547019958496 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -2.501786231994629 + ], + [ + -0.30953851342201233, + 1.5141339302062988, + -3.3433547019958496 + ] + ], + "center": { + "x": -0.2027219533920288, + "y": 1.9167251586914062, + "z": -2.9225704669952393 + }, + "size": { + "x": 0.21363312005996704, + "y": 0.8051824569702148, + "z": 0.8415684700012207 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|-02.12|+00.92|-02.42", + "object_info": { + "name": "Plate_830e6d99", + "position": { + "x": -2.1220037937164307, + "y": 0.9180463552474976, + "z": -2.421914577484131 + }, + "rotation": { + "x": -0.00020697328727692366, + "y": 0.00036867946619167924, + "z": 0.0004173295455984771 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 2.113036632537842, + "objectType": "Plate", + "objectId": "Plate|-02.12|+00.92|-02.42", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.0108251571655273, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.0108251571655273, + 0.9174673557281494, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.934241771697998, + -2.5338239669799805 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.3124265670776367 + ], + [ + -2.232144355773926, + 0.9174673557281494, + -2.5338239669799805 + ] + ], + "center": { + "x": -2.1214847564697266, + "y": 0.9258545637130737, + "z": -2.4231252670288086 + }, + "size": { + "x": 0.22131919860839844, + "y": 0.016774415969848633, + "z": 0.22139739990234375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0108213424682617, + 0.9174692034721375, + -2.312425136566162 + ], + [ + -2.2321460247039795, + 0.9174675941467285, + -2.3124237060546875 + ], + [ + -2.232147455215454, + 0.9174668192863464, + -2.5338261127471924 + ], + [ + -2.0108227729797363, + 0.9174684286117554, + -2.533827543258667 + ], + [ + -2.010821580886841, + 0.9342424869537354, + -2.312425136566162 + ], + [ + -2.2321462631225586, + 0.9342408776283264, + -2.3124237060546875 + ], + [ + -2.232147693634033, + 0.9342401027679443, + -2.5338263511657715 + ], + [ + -2.0108230113983154, + 0.9342417120933533, + -2.533827781677246 + ] + ] + } + } + }, + { + "objectId": "Toaster|-00.18|+00.90|-02.76", + "object_info": { + "name": "Toaster_95477b57", + "position": { + "x": -0.18180713057518005, + "y": 0.9039039015769958, + "z": -2.7641282081604004 + }, + "rotation": { + "x": -0.00027236854657530785, + "y": 270.1626892089844, + "z": 0.0003343684074934572 + }, + "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": 3.615037441253662, + "objectType": "Toaster", + "objectId": "Toaster|-00.18|+00.90|-02.76", + "assetId": "Toaster_23", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.01633387804031372, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.01633387804031372, + 0.9039021730422974, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 1.082329511642456, + -2.920691967010498 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.607469081878662 + ], + [ + -0.3810812532901764, + 0.9039021730422974, + -2.920691967010498 + ] + ], + "center": { + "x": -0.19870756566524506, + "y": 0.9931158423423767, + "z": -2.76408052444458 + }, + "size": { + "x": 0.36474737524986267, + "y": 0.1784273386001587, + "z": 0.31322288513183594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.38019534945487976, + 0.9039055109024048, + -2.607468843460083 + ], + [ + -0.38108178973197937, + 0.9039036631584167, + -2.9196584224700928 + ], + [ + -0.017220571637153625, + 0.9039019346237183, + -2.92069149017334 + ], + [ + -0.016334131360054016, + 0.9039037823677063, + -2.608502149581909 + ], + [ + -0.3801944851875305, + 1.0823297500610352, + -2.6074700355529785 + ], + [ + -0.3810809254646301, + 1.082327961921692, + -2.919659376144409 + ], + [ + -0.017219722270965576, + 1.0823262929916382, + -2.9206924438476562 + ], + [ + -0.016333281993865967, + 1.0823280811309814, + -2.6085031032562256 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "object_info": { + "name": "Cabinet_2fa9c04f", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -1.8042398691177368 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.793968439102173, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-01.80", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.26810139417648315, + 0.06014692783355713, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.7175437211990356, + -1.9959564208984375 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.6208512783050537 + ], + [ + -0.5925109386444092, + 0.06014692783355713, + -1.9959564208984375 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -1.8084038496017456 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573967933654785, + "z": 0.3751051425933838 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Cup|-02.44|+00.92|-02.36", + "object_info": { + "name": "Cup_43b81289", + "position": { + "x": -2.43701434135437, + "y": 0.9179112911224365, + "z": -2.3608481884002686 + }, + "rotation": { + "x": 359.98455810546875, + "y": -0.0006558127352036536, + "z": 0.011609265580773354 + }, + "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": 0.4000000059604645, + "salientMaterials": [ + "Glass" + ], + "receptacleObjectIds": [], + "distance": 1.9442209005355835, + "objectType": "Cup", + "objectId": "Cup|-02.44|+00.92|-02.36", + "assetId": "Cup_23", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.381376266479492, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.381376266479492, + 0.9174679517745972, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 1.0475152730941772, + -2.4165453910827637 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.3052186965942383 + ], + [ + -2.492703437805176, + 0.9174679517745972, + -2.4165453910827637 + ] + ], + "center": { + "x": -2.437039852142334, + "y": 0.9824916124343872, + "z": -2.360882043838501 + }, + "size": { + "x": 0.1113271713256836, + "y": 0.13004732131958008, + "z": 0.11132669448852539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.381348133087158, + 0.9174929857254028, + -2.3051836490631104 + ], + [ + -2.4926769733428955, + 0.9174704551696777, + -2.305185079574585 + ], + [ + -2.49267578125, + 0.9174404144287109, + -2.4165141582489014 + ], + [ + -2.3813467025756836, + 0.9174630045890808, + -2.416512966156006 + ], + [ + -2.3813743591308594, + 1.0475248098373413, + -2.3052186965942383 + ], + [ + -2.4927031993865967, + 1.0475022792816162, + -2.305220127105713 + ], + [ + -2.492702007293701, + 1.0474722385406494, + -2.4165492057800293 + ], + [ + -2.381373167037964, + 1.047494888305664, + -2.416548013687134 + ] + ] + } + } + }, + { + "objectId": "Faucet|-00.08|+00.90|-02.03", + "object_info": { + "name": "Faucet_0d77f6d4", + "position": { + "x": -0.07980000227689743, + "y": 0.9043524265289307, + "z": -2.0341999530792236 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.298689126968384, + "objectType": "Faucet", + "objectId": "Faucet|-00.08|+00.90|-02.03", + "assetId": "Kitchen_Faucet_5", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.047178059816360474, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.047178059816360474, + 0.9043524265289307, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 1.061513900756836, + -2.179175615310669 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -1.8892242908477783 + ], + [ + -0.28824254870414734, + 0.9043524265289307, + -2.179175615310669 + ] + ], + "center": { + "x": -0.1677103042602539, + "y": 0.9829331636428833, + "z": -2.0341999530792236 + }, + "size": { + "x": 0.24106448888778687, + "y": 0.15716147422790527, + "z": 0.2899513244628906 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "object_info": { + "name": "ButterKnife_9d776838", + "position": { + "x": -0.30853646993637085, + "y": 0.9052367210388184, + "z": -3.4370250701904297 + }, + "rotation": { + "x": 0.00017587737238500267, + "y": 90.1769027709961, + "z": 89.99847412109375 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07999999821186066, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.9837305545806885, + "objectType": "ButterKnife", + "objectId": "ButterKnife|-00.31|+00.91|-03.44", + "assetId": "ButterKnife_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.17185992002487183, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.17185992002487183, + 0.9039044380187988, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9105687141418457, + -3.451559066772461 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.429518222808838 + ], + [ + -0.4403502345085144, + 0.9039044380187988, + -3.451559066772461 + ] + ], + "center": { + "x": -0.3061050772666931, + "y": 0.9072365760803223, + "z": -3.4405386447906494 + }, + "size": { + "x": 0.2684903144836426, + "y": 0.006664276123046875, + "z": 0.022040843963623047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.17192533612251282, + 0.910568118095398, + -3.451559543609619 + ], + [ + -0.171925351023674, + 0.9039037227630615, + -3.45155930519104 + ], + [ + -0.44035035371780396, + 0.9039045572280884, + -3.450730562210083 + ], + [ + -0.44035035371780396, + 0.91056889295578, + -3.450730800628662 + ], + [ + -0.17185984551906586, + 0.9105686545372009, + -3.4303460121154785 + ], + [ + -0.17185986042022705, + 0.9039042592048645, + -3.4303460121154785 + ], + [ + -0.4402848780155182, + 0.9039050936698914, + -3.4295172691345215 + ], + [ + -0.4402848482131958, + 0.9105694890022278, + -3.4295172691345215 + ] + ] + } + } + }, + { + "objectId": "Pot|-02.24|+00.92|-01.88", + "object_info": { + "name": "Pot_c7ae5a14", + "position": { + "x": -2.238515853881836, + "y": 0.9188684821128845, + "z": -1.8819711208343506 + }, + "rotation": { + "x": -0.0015533093828707933, + "y": 0.001116547966375947, + "z": -0.0011866374406963587 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5699999928474426, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.5779802799224854, + "objectType": "Pot", + "objectId": "Pot|-02.24|+00.92|-01.88", + "assetId": "Pot_24", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.068413257598877, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.068413257598877, + 0.9174673557281494, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 1.044115424156189, + -2.0246758460998535 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -1.7392747402191162 + ], + [ + -2.4086132049560547, + 0.9174673557281494, + -2.0246758460998535 + ] + ], + "center": { + "x": -2.238513231277466, + "y": 0.9807913899421692, + "z": -1.8819752931594849 + }, + "size": { + "x": 0.34019994735717773, + "y": 0.12664806842803955, + "z": 0.2854011058807373 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.0684149265289307, + 0.9174708127975464, + -1.739269495010376 + ], + [ + -2.408622980117798, + 0.9174779057502747, + -1.7392628192901611 + ], + [ + -2.408628463745117, + 0.9174701571464539, + -2.024667978286743 + ], + [ + -2.068420648574829, + 0.9174631237983704, + -2.024674415588379 + ], + [ + -2.0684123039245605, + 1.0441135168075562, + -1.7392728328704834 + ], + [ + -2.4086203575134277, + 1.0441205501556396, + -1.739266276359558 + ], + [ + -2.408625841140747, + 1.0441128015518188, + -2.0246713161468506 + ], + [ + -2.068418025970459, + 1.0441057682037354, + -2.0246779918670654 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "object_info": { + "name": "Cabinet_62be14c5", + "position": { + "x": -0.5827875137329102, + "y": 0.388845294713974, + "z": -2.1973860263824463 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.9977221488952637, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.58|+00.39|-02.20", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.26810139417648315, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.26810139417648315, + 0.06014668941497803, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.7175439596176147, + -2.3924341201782227 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.015225410461426 + ], + [ + -0.5925109386444092, + 0.06014668941497803, + -2.3924341201782227 + ] + ], + "center": { + "x": -0.43030616641044617, + "y": 0.3888453245162964, + "z": -2.203829765319824 + }, + "size": { + "x": 0.324409544467926, + "y": 0.6573972702026367, + "z": 0.3772087097167969 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "object_info": { + "name": "DishSponge_dc253c88", + "position": { + "x": -0.07007644325494766, + "y": 0.9059966206550598, + "z": -1.6864699125289917 + }, + "rotation": { + "x": 7.159425877034664e-05, + "y": -6.712907179462491e-06, + "z": 2.5936060410458595e-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": 0.029999997466802597, + "salientMaterials": [ + "Sponge" + ], + "receptacleObjectIds": null, + "distance": 3.1610422134399414, + "objectType": "DishSponge", + "objectId": "DishSponge|-00.07|+00.91|-01.69", + "assetId": "Dish_Sponge_1", + "parentReceptacles": [ + "CounterTop|-00.30|+00.95|-02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.03329712152481079, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.03329712152481079, + 0.9039053320884705, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299445748329163, + -1.755942940711975 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9039053320884705, + -1.755942940711975 + ] + ], + "center": { + "x": -0.07007645070552826, + "y": 0.9169249534606934, + "z": -1.6864699125289917 + }, + "size": { + "x": 0.07355865836143494, + "y": 0.0260392427444458, + "z": 0.1389460563659668 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.033297132700681686, + 0.9039053916931152, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9039053320884705, + -1.6169968843460083 + ], + [ + -0.10685575008392334, + 0.9039055109024048, + -1.755942940711975 + ], + [ + -0.03329711779952049, + 0.9039055705070496, + -1.755942940711975 + ], + [ + -0.03329714387655258, + 0.9299443960189819, + -1.6169968843460083 + ], + [ + -0.10685577988624573, + 0.9299443364143372, + -1.6169968843460083 + ], + [ + -0.10685576498508453, + 0.9299445152282715, + -1.755942940711975 + ], + [ + -0.03329712897539139, + 0.9299445748329163, + -1.7559428215026855 + ] + ] + } + } + }, + { + "objectId": "Drawer|-00.75|+00.78|-03.55", + "object_info": { + "name": "Drawer_206d0bb8", + "position": { + "x": -0.7492366433143616, + "y": 0.7795612812042236, + "z": -3.551337957382202 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.793592929840088, + "objectType": "Drawer", + "objectId": "Drawer|-00.75|+00.78|-03.55", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.620542049407959, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.620542049407959, + 0.724824070930481, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.8710678815841675, + -3.685018539428711 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.4154510498046875 + ], + [ + -0.8779313564300537, + 0.724824070930481, + -3.685018539428711 + ] + ], + "center": { + "x": -0.7492367029190063, + "y": 0.7979459762573242, + "z": -3.550234794616699 + }, + "size": { + "x": 0.2573893070220947, + "y": 0.14624381065368652, + "z": 0.26956748962402344 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Drawer|-00.45|+00.78|-03.27", + "object_info": { + "name": "Drawer_c456a4fb", + "position": { + "x": -0.45498621463775635, + "y": 0.7795612812042236, + "z": -3.26829195022583 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.7623507976531982, + "objectType": "Drawer", + "objectId": "Drawer|-00.45|+00.78|-03.27", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.32120609283447266, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.32120609283447266, + 0.724765419960022, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.8702927827835083, + -3.3972296714782715 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.1393542289733887 + ], + [ + -0.5919875502586365, + 0.724765419960022, + -3.3972296714782715 + ] + ], + "center": { + "x": -0.45659682154655457, + "y": 0.7975291013717651, + "z": -3.26829195022583 + }, + "size": { + "x": 0.2707814574241638, + "y": 0.14552736282348633, + "z": 0.2578754425048828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Knife|-02.27|+00.92|-02.14", + "object_info": { + "name": "Knife_8786ebb5", + "position": { + "x": -2.2699928283691406, + "y": 0.924429178237915, + "z": -2.1429049968719482 + }, + "rotation": { + "x": 0.007485887501388788, + "y": 44.997459411621094, + "z": 89.95846557617188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.18000000715255737, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.7979422807693481, + "objectType": "Knife", + "objectId": "Knife|-02.27|+00.92|-02.14", + "assetId": "Knife_6", + "parentReceptacles": [ + "DiningTable|-02.43|+00.00|-01.69" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.1190872192382812, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.1190872192382812, + 0.9174502491950989, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.93145352602005, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.93145352602005, + -2.2362327575683594 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -1.9893484115600586 + ], + [ + -2.367858409881592, + 0.9174502491950989, + -2.2362327575683594 + ] + ], + "center": { + "x": -2.2434728145599365, + "y": 0.9244518876075745, + "z": -2.112790584564209 + }, + "size": { + "x": 0.24877119064331055, + "y": 0.014003276824951172, + "z": 0.24688434600830078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.105393648147583, + 0.9313793778419495, + -2.013383150100708 + ], + [ + -2.1054019927978516, + 0.917415976524353, + -2.0133771896362305 + ], + [ + -2.3371825218200684, + 0.9174587726593018, + -2.245178461074829 + ], + [ + -2.3371741771698, + 0.9314221739768982, + -2.2451841831207275 + ], + [ + -2.1373982429504395, + 0.9314121603965759, + -1.9813814163208008 + ], + [ + -2.137406587600708, + 0.9174487590789795, + -1.9813755750656128 + ], + [ + -2.369187116622925, + 0.917491614818573, + -2.213176727294922 + ], + [ + -2.3691787719726562, + 0.9314550161361694, + -2.2131824493408203 + ] + ] + } + } + }, + { + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "object_info": { + "name": "Cabinet_9e7b8da6", + "position": { + "x": -0.31299999356269836, + "y": 2.140115261077881, + "z": -2.481661796569824 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 3.561230182647705, + "objectType": "Cabinet", + "objectId": "Cabinet|-00.31|+02.14|-02.48", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.1063777506351471, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.1063777506351471, + 1.956141710281372, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 2.3240888118743896, + -2.481661796569824 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.014713764190674 + ], + [ + -0.3197946548461914, + 1.956141710281372, + -2.481661796569824 + ] + ], + "center": { + "x": -0.21308620274066925, + "y": 2.140115261077881, + "z": -2.248187780380249 + }, + "size": { + "x": 0.2134169042110443, + "y": 0.3679471015930176, + "z": 0.4669480323791504 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -4.300000190734863, + "y": 0.9009994864463806, + "z": -1.4000000953674316 + }, + "agent_rotation": { + "x": -0.0, + "y": 69.00000762939453, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -4.300000190734863, + "y": 1.5759994983673096, + "z": -1.4000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Knife|-02.27|+00.92|-02.14", + "Apple|-02.66|+00.97|-01.55", + "Chair|-03.24|+00.00|-01.25", + "Bowl|-02.75|+00.92|-01.17", + "Pot|-02.24|+00.92|-01.88", + "Plate|-02.12|+00.92|-02.42", + "StoveBurner|-01.13|+00.93|-03.50", + "Mug|-02.59|+00.92|-02.31", + "Cup|-02.44|+00.92|-02.36", + "Shelf|-02.43|+00.52|-01.69", + "Shelf|-02.43|+00.15|-01.69", + "DiningTable|-02.43|+00.00|-01.69", + "Potato|-02.08|+00.95|-01.60", + "Pan|-02.17|+00.92|-01.10", + "Lettuce|-02.62|+01.01|-01.73", + "WineBottle|-02.44|+00.92|-02.14", + "Tomato|-02.67|+00.98|-02.01" + ], + "different_object": [ + "Fridge|-00.33|+00.00|-00.77", + "Cabinet|-00.33|+01.92|-03.39", + "Cabinet|-00.30|+01.92|-02.50", + "SoapBottle|-00.18|+00.90|-02.46", + "Bottle|-02.70|+00.92|-00.88", + "Pencil|-02.22|+00.92|-00.86", + "Sink|-00.35|+00.91|-02.01", + "Drawer|-00.75|+00.78|-03.55", + "ButterKnife|-00.31|+00.91|-03.44", + "CounterTop|-00.30|+00.95|-02.79", + "Faucet|-00.08|+00.90|-02.03", + "Cabinet|-00.58|+00.39|-02.20", + "Pen|-02.33|+00.92|-00.89", + "Cabinet|-00.31|+02.14|-01.54", + "CoffeeMachine|-00.15|+00.90|-03.14", + "Drawer|-00.45|+00.78|-03.27", + "DishSponge|-00.07|+00.91|-01.69", + "PepperShaker|-00.44|+00.90|-03.35", + "Cabinet|-00.58|+00.39|-01.80", + "Toaster|-00.18|+00.90|-02.76", + "Cabinet|-00.31|+02.14|-02.48", + "Bread|-00.41|+00.95|-03.63", + "Cabinet|-00.58|+00.39|-03.40", + "Spatula|-00.30|+00.91|-02.54", + "Cabinet|-00.88|+00.39|-03.42" + ] +} \ No newline at end of file diff --git a/train/FloorPlan23/8/1_depth_npy.npy b/train/FloorPlan23/8/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..dc851291c3bc47ec09d2bd72cbd0087a777452c5 --- /dev/null +++ b/train/FloorPlan23/8/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12646077913dacbdfa64e9bcaf061ed1f393c9be6a83d1b1ac154be86742ac9c +size 3145856 diff --git a/train/FloorPlan23/8/1_semantic_sensor_npy.npy b/train/FloorPlan23/8/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..da96fa36cdd3d206ff41a19da0c7e07c486d2b57 --- /dev/null +++ b/train/FloorPlan23/8/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93b62dd393ebbf16f9f0b7887d5c192031707f8edae1c6fcefd63b5b56bc058f +size 2359424 diff --git a/train/FloorPlan23/8/depth_0.png b/train/FloorPlan23/8/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..749b9766f4ec34105f341529f3d0bf887d564ded Binary files /dev/null and b/train/FloorPlan23/8/depth_0.png differ diff --git a/train/FloorPlan23/8/depth_1.png b/train/FloorPlan23/8/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e019668fde4eb4cee2fddae141ae41de8dd8923a Binary files /dev/null and b/train/FloorPlan23/8/depth_1.png differ diff --git a/train/FloorPlan23/8/mask_questions.jsonl b/train/FloorPlan23/8/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7028352d76a9b5dcafb3188623525ad37a35a21e --- /dev/null +++ b/train/FloorPlan23/8/mask_questions.jsonl @@ -0,0 +1,11 @@ +{"id": 15505, "folder_dir": "FloorPlan23/8", "pair_name": "0-1:Chair|-03.24|+00.00|-01.25", "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. Chair\nB. Blinds\nC. StoveBurner\nD. Knife", "answer": "A", "object_name": "Chair", "image_1": "FloorPlan23/8/rgb_0.png", "image_2": "FloorPlan23/8/rgb_1.png", "mask_image": "FloorPlan23/8/rgb_1_mask_Chair|-03.24|+00.00|-01.25.png", "options": ["Chair", "Blinds", "StoveBurner", "Knife"]} +{"id": 15506, "folder_dir": "FloorPlan23/8", "pair_name": "0-1:Bowl|-02.75|+00.92|-01.17", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Bowl\nC. Knife\nD. StoveBurner", "answer": "B", "object_name": "Bowl", "image_1": "FloorPlan23/8/rgb_0.png", "image_2": "FloorPlan23/8/rgb_1.png", "mask_image": "FloorPlan23/8/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png", "options": ["Cabinet", "Bowl", "Knife", "StoveBurner"]} +{"id": 15507, "folder_dir": "FloorPlan23/8", "pair_name": "0-1:Pot|-02.24|+00.92|-01.88", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pot\nB. Knife\nC. Window\nD. Cabinet", "answer": "A", "object_name": "Pot", "image_1": "FloorPlan23/8/rgb_0.png", "image_2": "FloorPlan23/8/rgb_1.png", "mask_image": "FloorPlan23/8/rgb_1_mask_Pot|-02.24|+00.92|-01.88.png", "options": ["Pot", "Knife", "Window", "Cabinet"]} +{"id": 15508, "folder_dir": "FloorPlan23/8", "pair_name": "0-1:Lettuce|-02.62|+01.01|-01.73", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Lettuce\nC. Knife\nD. StoveBurner", "answer": "B", "object_name": "Lettuce", "image_1": "FloorPlan23/8/rgb_0.png", "image_2": "FloorPlan23/8/rgb_1.png", "mask_image": "FloorPlan23/8/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png", "options": ["Cabinet", "Lettuce", "Knife", "StoveBurner"]} +{"id": 15509, "folder_dir": "FloorPlan23/8", "pair_name": "0-1:WineBottle|-02.44|+00.92|-02.14", "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. Knife\nB. StoveBurner\nC. Blinds\nD. WineBottle", "answer": "D", "object_name": "WineBottle", "image_1": "FloorPlan23/8/rgb_0.png", "image_2": "FloorPlan23/8/rgb_1.png", "mask_image": "FloorPlan23/8/rgb_1_mask_WineBottle|-02.44|+00.92|-02.14.png", "options": ["Knife", "StoveBurner", "Blinds", "WineBottle"]} +{"id": 15510, "folder_dir": "FloorPlan23/8", "pair_name": "1-0:Chair|-03.24|+00.00|-01.25", "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. CounterTop\nB. Cabinet\nC. Chair\nD. Knife", "answer": "C", "object_name": "Chair", "image_1": "FloorPlan23/8/rgb_1.png", "image_2": "FloorPlan23/8/rgb_0.png", "mask_image": "FloorPlan23/8/rgb_0_mask_Chair|-03.24|+00.00|-01.25.png", "options": ["CounterTop", "Cabinet", "Chair", "Knife"]} +{"id": 15511, "folder_dir": "FloorPlan23/8", "pair_name": "1-0:Bowl|-02.75|+00.92|-01.17", "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. Knife\nB. DishSponge\nC. Cabinet\nD. Bowl", "answer": "D", "object_name": "Bowl", "image_1": "FloorPlan23/8/rgb_1.png", "image_2": "FloorPlan23/8/rgb_0.png", "mask_image": "FloorPlan23/8/rgb_0_mask_Bowl|-02.75|+00.92|-01.17.png", "options": ["Knife", "DishSponge", "Cabinet", "Bowl"]} +{"id": 15512, "folder_dir": "FloorPlan23/8", "pair_name": "1-0:Pot|-02.24|+00.92|-01.88", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Cabinet\nB. Knife\nC. Bread\nD. Pot", "answer": "D", "object_name": "Pot", "image_1": "FloorPlan23/8/rgb_1.png", "image_2": "FloorPlan23/8/rgb_0.png", "mask_image": "FloorPlan23/8/rgb_0_mask_Pot|-02.24|+00.92|-01.88.png", "options": ["Cabinet", "Knife", "Bread", "Pot"]} +{"id": 15513, "folder_dir": "FloorPlan23/8", "pair_name": "1-0:Shelf|-02.43|+00.15|-01.69", "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. PepperShaker\nB. Cabinet\nC. Shelf\nD. Knife", "answer": "C", "object_name": "Shelf", "image_1": "FloorPlan23/8/rgb_1.png", "image_2": "FloorPlan23/8/rgb_0.png", "mask_image": "FloorPlan23/8/rgb_0_mask_Shelf|-02.43|+00.15|-01.69.png", "options": ["PepperShaker", "Cabinet", "Shelf", "Knife"]} +{"id": 15514, "folder_dir": "FloorPlan23/8", "pair_name": "1-0:Lettuce|-02.62|+01.01|-01.73", "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. Knife\nB. Cabinet\nC. Faucet\nD. Lettuce", "answer": "D", "object_name": "Lettuce", "image_1": "FloorPlan23/8/rgb_1.png", "image_2": "FloorPlan23/8/rgb_0.png", "mask_image": "FloorPlan23/8/rgb_0_mask_Lettuce|-02.62|+01.01|-01.73.png", "options": ["Knife", "Cabinet", "Faucet", "Lettuce"]} +{"id": 15515, "folder_dir": "FloorPlan23/8", "pair_name": "1-0:WineBottle|-02.44|+00.92|-02.14", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Faucet\nB. WineBottle\nC. Knife\nD. Fridge", "answer": "B", "object_name": "WineBottle", "image_1": "FloorPlan23/8/rgb_1.png", "image_2": "FloorPlan23/8/rgb_0.png", "mask_image": "FloorPlan23/8/rgb_0_mask_WineBottle|-02.44|+00.92|-02.14.png", "options": ["Faucet", "WineBottle", "Knife", "Fridge"]} diff --git a/train/FloorPlan23/8/questions_distance.jsonl b/train/FloorPlan23/8/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..013bd700d120e739d483cc6221e2de1f4424e933 --- /dev/null +++ b/train/FloorPlan23/8/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 4609, "folder_dir": "FloorPlan23/8", "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. Lettuce\nB. Pot\nC. Apple\nD. Other\n", "answer": "A", "src_object": "DiningTable", "target_object": "Lettuce", "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": "Lettuce", "semantic_id": "Lettuce|-02.62|+01.01|-01.73", "distance": 0.5853301333959219, "com": {"x": -2.620821714401245, "y": 1.0096420049667358, "z": -1.7274253368377686}}, {"text": "Pot", "semantic_id": "Pot|-02.24|+00.92|-01.88", "distance": 0.5858293435623843, "com": {"x": -2.238513231277466, "y": 0.9807913899421692, "z": -1.8819752931594849}}, {"text": "Apple", "semantic_id": "Apple|-02.66|+00.97|-01.55", "distance": 0.58665562724534, "com": {"x": -2.66848087310791, "y": 0.9702385067939758, "z": -1.5395169258117676}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan23/8/rgb_0.png", "image_2": "FloorPlan23/8/rgb_1.png"} diff --git a/train/FloorPlan23/8/rgb_0.png b/train/FloorPlan23/8/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..05ffddd010131ce6585e61cba5fca6e261cb430b --- /dev/null +++ b/train/FloorPlan23/8/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49a49fb3bcbc080508c457cc369ac29b3753c7f39424f3fea91b4d9356cfc0e3 +size 750005 diff --git a/train/FloorPlan23/8/rgb_0_mask_Bowl|-02.75|+00.92|-01.17.png b/train/FloorPlan23/8/rgb_0_mask_Bowl|-02.75|+00.92|-01.17.png new file mode 100644 index 0000000000000000000000000000000000000000..4e952e1aa1b1b3ddb5e05f3b2a0ea1736d52252f --- /dev/null +++ b/train/FloorPlan23/8/rgb_0_mask_Bowl|-02.75|+00.92|-01.17.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5f8d980636dd60eadea2a311649c97c8a732e2ea40d3c0ac560881c92a25a08 +size 660485 diff --git a/train/FloorPlan23/8/rgb_0_mask_Chair|-03.24|+00.00|-01.25.png b/train/FloorPlan23/8/rgb_0_mask_Chair|-03.24|+00.00|-01.25.png new file mode 100644 index 0000000000000000000000000000000000000000..b0e3f734463a2c9bfb74f510d7cbb4d1b11d4812 --- /dev/null +++ b/train/FloorPlan23/8/rgb_0_mask_Chair|-03.24|+00.00|-01.25.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:289fe02b726057f7e98ec2fcbbab0a5e45e38b09e8b4c4bacd4454001b4a22b2 +size 656604 diff --git a/train/FloorPlan23/8/rgb_0_mask_Lettuce|-02.62|+01.01|-01.73.png b/train/FloorPlan23/8/rgb_0_mask_Lettuce|-02.62|+01.01|-01.73.png new file mode 100644 index 0000000000000000000000000000000000000000..c9aacef327f20e8526a3ac0c2e9f7ced6a95137f --- /dev/null +++ b/train/FloorPlan23/8/rgb_0_mask_Lettuce|-02.62|+01.01|-01.73.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3406139087fdff8fc9f207e255bae16536262200fe03ebce0203410324062b5 +size 659076 diff --git a/train/FloorPlan23/8/rgb_0_mask_Pot|-02.24|+00.92|-01.88.png b/train/FloorPlan23/8/rgb_0_mask_Pot|-02.24|+00.92|-01.88.png new file mode 100644 index 0000000000000000000000000000000000000000..a834fd872c32ce65b18bebe6abea08a565234847 --- /dev/null +++ b/train/FloorPlan23/8/rgb_0_mask_Pot|-02.24|+00.92|-01.88.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb805fb33cfe08cf1cb345e13337660c2c99d269c949a58c00d39fbbf18ebc1d +size 651789 diff --git a/train/FloorPlan23/8/rgb_0_mask_Shelf|-02.43|+00.15|-01.69.png b/train/FloorPlan23/8/rgb_0_mask_Shelf|-02.43|+00.15|-01.69.png new file mode 100644 index 0000000000000000000000000000000000000000..93a475b81fb6a2dfcd5a8ee8c7df87f4bde5b177 --- /dev/null +++ b/train/FloorPlan23/8/rgb_0_mask_Shelf|-02.43|+00.15|-01.69.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1af538874a49dbd77a7ff619247a0ae2dfdc6dd1970ca38022b1521e7a375f21 +size 663201 diff --git a/train/FloorPlan23/8/rgb_0_mask_WineBottle|-02.44|+00.92|-02.14.png b/train/FloorPlan23/8/rgb_0_mask_WineBottle|-02.44|+00.92|-02.14.png new file mode 100644 index 0000000000000000000000000000000000000000..de8d34c150aa7f56f9e0f7c7b0506a4d5919105b --- /dev/null +++ b/train/FloorPlan23/8/rgb_0_mask_WineBottle|-02.44|+00.92|-02.14.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6c966f985f1b1999bea8e841dc51e45f3e4d97e05998adae8a7f9bb45c5b420 +size 663516 diff --git a/train/FloorPlan23/8/rgb_1.png b/train/FloorPlan23/8/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f659b0d41914611d5d84a8a516a68095f4571a46 --- /dev/null +++ b/train/FloorPlan23/8/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f94a0163e1799d54428dbe89e5be64f9417bbdcbb96c413c557ca32c6b0cd46d +size 820543 diff --git a/train/FloorPlan23/8/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png b/train/FloorPlan23/8/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png new file mode 100644 index 0000000000000000000000000000000000000000..18371976575b9a36cd16d485331ac956f2c6ec90 --- /dev/null +++ b/train/FloorPlan23/8/rgb_1_mask_Bowl|-02.75|+00.92|-01.17.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fee75b1118ea505494fc857f4dc52c66fcdfe1c40a64edb22676a248e988e9e2 +size 717802 diff --git a/train/FloorPlan23/8/rgb_1_mask_Chair|-03.24|+00.00|-01.25.png b/train/FloorPlan23/8/rgb_1_mask_Chair|-03.24|+00.00|-01.25.png new file mode 100644 index 0000000000000000000000000000000000000000..cd0eb2a60e22ed0ddf082d4cae0b93cd6ce2324c --- /dev/null +++ b/train/FloorPlan23/8/rgb_1_mask_Chair|-03.24|+00.00|-01.25.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e446505b3ab4944ca5c1e2f4f344eab56bbd81e36636e750801158b79d53f753 +size 687364 diff --git a/train/FloorPlan23/8/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png b/train/FloorPlan23/8/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png new file mode 100644 index 0000000000000000000000000000000000000000..c77ca01bb6cc7b338c0d87f60f5eea5a02ffa0d4 --- /dev/null +++ b/train/FloorPlan23/8/rgb_1_mask_Lettuce|-02.62|+01.01|-01.73.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65680990d585fc9d6542ecab9fc5110f58af6ead1c06238ff9446bc659445530 +size 714659 diff --git a/train/FloorPlan23/8/rgb_1_mask_Pot|-02.24|+00.92|-01.88.png b/train/FloorPlan23/8/rgb_1_mask_Pot|-02.24|+00.92|-01.88.png new file mode 100644 index 0000000000000000000000000000000000000000..187087825bddf5cc6bcd1510edb2d6f8ce0c030e --- /dev/null +++ b/train/FloorPlan23/8/rgb_1_mask_Pot|-02.24|+00.92|-01.88.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5525720f96fc1ea9885b4e0c58f24540422abaf2a2958c927b1f07d015f02fff +size 715123 diff --git a/train/FloorPlan23/8/rgb_1_mask_WineBottle|-02.44|+00.92|-02.14.png b/train/FloorPlan23/8/rgb_1_mask_WineBottle|-02.44|+00.92|-02.14.png new file mode 100644 index 0000000000000000000000000000000000000000..a996ab7ea9a5833b1d008815bf8cd203c7eb517e --- /dev/null +++ b/train/FloorPlan23/8/rgb_1_mask_WineBottle|-02.44|+00.92|-02.14.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7cb56b2932eb51f56c75706a979a34c8e6686ab6389e36c3eb5d4cd03bddb815 +size 718224 diff --git a/train/FloorPlan23/8/semantic_0.png b/train/FloorPlan23/8/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2de9b2ca4b41e16f2801d7dfa02b0adaff4129b1 Binary files /dev/null and b/train/FloorPlan23/8/semantic_0.png differ diff --git a/train/FloorPlan23/8/semantic_1.png b/train/FloorPlan23/8/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9cf9c16430c1d1473b43d060229416fd611d9387 Binary files /dev/null and b/train/FloorPlan23/8/semantic_1.png differ