Hugging Face's logo

Datasets:
WanyueZhang
/
MulSeT

Modalities:
Image
Languages:
English
ArXiv:
Tags:
computer-vision
visual-question-answering
multi-modal
spatial-reasoning
synthetic-data
License:
Dataset card Data Studio Files
xet
Community
2
WanyueZhang commited on
Commit
aaf34b1
·
verified ·
1 Parent(s): 4738dcc

Upload dataset files (batch 527/552)

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. .gitattributes +284 -0
  2. train/FloorPlan302/0/0.json +1329 -0
  3. train/FloorPlan302/0/0_depth_npy.npy +3 -0
  4. train/FloorPlan302/0/0_semantic_sensor_npy.npy +3 -0
  5. train/FloorPlan302/0/1.json +2488 -0
  6. train/FloorPlan302/0/1_depth_npy.npy +3 -0
  7. train/FloorPlan302/0/1_semantic_sensor_npy.npy +3 -0
  8. train/FloorPlan302/0/depth_0.png +0 -0
  9. train/FloorPlan302/0/depth_1.png +0 -0
  10. train/FloorPlan302/0/mask_questions.jsonl +6 -0
  11. train/FloorPlan302/0/questions_distance.jsonl +2 -0
  12. train/FloorPlan302/0/rgb_0.png +3 -0
  13. train/FloorPlan302/0/rgb_0_mask_Mirror|-01.38|+01.57|+00.51.png +3 -0
  14. train/FloorPlan302/0/rgb_0_mask_Shelf|-01.29|+01.45|-00.60.png +3 -0
  15. train/FloorPlan302/0/rgb_0_mask_Shelf|-01.29|+01.81|-00.60.png +3 -0
  16. train/FloorPlan302/0/rgb_1.png +3 -0
  17. train/FloorPlan302/0/rgb_1_mask_Mirror|-01.38|+01.57|+00.51.png +3 -0
  18. train/FloorPlan302/0/rgb_1_mask_Shelf|-01.29|+01.45|-00.60.png +3 -0
  19. train/FloorPlan302/0/rgb_1_mask_Shelf|-01.29|+01.81|-00.60.png +3 -0
  20. train/FloorPlan302/0/semantic_0.png +0 -0
  21. train/FloorPlan302/0/semantic_1.png +0 -0
  22. train/FloorPlan302/1/0.json +1015 -0
  23. train/FloorPlan302/1/0_depth_npy.npy +3 -0
  24. train/FloorPlan302/1/0_semantic_sensor_npy.npy +3 -0
  25. train/FloorPlan302/1/1.json +1170 -0
  26. train/FloorPlan302/1/1_depth_npy.npy +3 -0
  27. train/FloorPlan302/1/1_semantic_sensor_npy.npy +3 -0
  28. train/FloorPlan302/1/depth_0.png +0 -0
  29. train/FloorPlan302/1/depth_1.png +0 -0
  30. train/FloorPlan302/1/mask_questions.jsonl +7 -0
  31. train/FloorPlan302/1/questions_distance.jsonl +2 -0
  32. train/FloorPlan302/1/rgb_0.png +3 -0
  33. train/FloorPlan302/1/rgb_0_mask_Desk|-00.79|+00.00|-01.03.png +3 -0
  34. train/FloorPlan302/1/rgb_0_mask_Mirror|-01.38|+01.57|+00.51.png +3 -0
  35. train/FloorPlan302/1/rgb_0_mask_Shelf|-01.29|+01.45|-00.60.png +3 -0
  36. train/FloorPlan302/1/rgb_0_mask_Shelf|-01.29|+01.81|-00.60.png +3 -0
  37. train/FloorPlan302/1/rgb_1.png +3 -0
  38. train/FloorPlan302/1/rgb_1_mask_Mirror|-01.38|+01.57|+00.51.png +3 -0
  39. train/FloorPlan302/1/rgb_1_mask_Shelf|-01.29|+01.45|-00.60.png +3 -0
  40. train/FloorPlan302/1/rgb_1_mask_Shelf|-01.29|+01.81|-00.60.png +3 -0
  41. train/FloorPlan302/1/semantic_0.png +0 -0
  42. train/FloorPlan302/1/semantic_1.png +0 -0
  43. train/FloorPlan302/10/0.json +1972 -0
  44. train/FloorPlan302/10/0_depth_npy.npy +3 -0
  45. train/FloorPlan302/10/0_semantic_sensor_npy.npy +3 -0
  46. train/FloorPlan302/10/1.json +0 -0
  47. train/FloorPlan302/10/1_depth_npy.npy +3 -0
  48. train/FloorPlan302/10/1_semantic_sensor_npy.npy +3 -0
  49. train/FloorPlan302/10/depth_0.png +0 -0
  50. train/FloorPlan302/10/depth_1.png +0 -0
.gitattributes CHANGED
@@ -97023,3 +97023,287 @@ train/FloorPlan302/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97023
  train/FloorPlan302/4/rgb_0_mask_Shelf|-01.29|+01.45|-00.60.png filter=lfs diff=lfs merge=lfs -text
97024
  train/FloorPlan302/4/rgb_1_mask_Shelf|-01.29|+01.81|-00.60.png filter=lfs diff=lfs merge=lfs -text
97025
  train/FloorPlan302/4/rgb_1_mask_Shelf|-01.29|+01.45|-00.60.png filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
97023
  train/FloorPlan302/4/rgb_0_mask_Shelf|-01.29|+01.45|-00.60.png filter=lfs diff=lfs merge=lfs -text
97024
  train/FloorPlan302/4/rgb_1_mask_Shelf|-01.29|+01.81|-00.60.png filter=lfs diff=lfs merge=lfs -text
97025
  train/FloorPlan302/4/rgb_1_mask_Shelf|-01.29|+01.45|-00.60.png filter=lfs diff=lfs merge=lfs -text
97026
+ train/FloorPlan302/7/rgb_1_mask_Safe|+01.62|+00.00|+00.45.png filter=lfs diff=lfs merge=lfs -text
97027
+ train/FloorPlan302/7/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97028
+ train/FloorPlan302/7/rgb_1_mask_TeddyBear|+01.71|+00.70|-00.17.png filter=lfs diff=lfs merge=lfs -text
97029
+ train/FloorPlan302/7/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97030
+ train/FloorPlan302/7/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97031
+ train/FloorPlan302/7/rgb_1_mask_Drawer|+00.30|+00.46|+01.16.png filter=lfs diff=lfs merge=lfs -text
97032
+ train/FloorPlan302/7/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97033
+ train/FloorPlan302/7/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97034
+ train/FloorPlan302/7/rgb_0_mask_TeddyBear|+01.71|+00.70|-00.17.png filter=lfs diff=lfs merge=lfs -text
97035
+ train/FloorPlan302/7/rgb_0_mask_Safe|+01.62|+00.00|+00.45.png filter=lfs diff=lfs merge=lfs -text
97036
+ train/FloorPlan302/7/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97037
+ train/FloorPlan302/7/rgb_1_mask_GarbageCan|+00.84|+00.01|+01.32.png filter=lfs diff=lfs merge=lfs -text
97038
+ train/FloorPlan302/7/rgb_1_mask_Pillow|+01.27|+00.65|-00.63.png filter=lfs diff=lfs merge=lfs -text
97039
+ train/FloorPlan302/7/rgb_0_mask_GarbageCan|+00.84|+00.01|+01.32.png filter=lfs diff=lfs merge=lfs -text
97040
+ train/FloorPlan302/7/rgb_0_mask_Pillow|+01.27|+00.65|-00.63.png filter=lfs diff=lfs merge=lfs -text
97041
+ train/FloorPlan302/0/rgb_0_mask_Shelf|-01.29|+01.81|-00.60.png filter=lfs diff=lfs merge=lfs -text
97042
+ train/FloorPlan302/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97043
+ train/FloorPlan302/0/rgb_0_mask_Mirror|-01.38|+01.57|+00.51.png filter=lfs diff=lfs merge=lfs -text
97044
+ train/FloorPlan302/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97045
+ train/FloorPlan302/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97046
+ train/FloorPlan302/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97047
+ train/FloorPlan302/0/rgb_1_mask_Mirror|-01.38|+01.57|+00.51.png filter=lfs diff=lfs merge=lfs -text
97048
+ train/FloorPlan302/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97049
+ train/FloorPlan302/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97050
+ train/FloorPlan302/0/rgb_0_mask_Shelf|-01.29|+01.45|-00.60.png filter=lfs diff=lfs merge=lfs -text
97051
+ train/FloorPlan302/0/rgb_1_mask_Shelf|-01.29|+01.81|-00.60.png filter=lfs diff=lfs merge=lfs -text
97052
+ train/FloorPlan302/0/rgb_1_mask_Shelf|-01.29|+01.45|-00.60.png filter=lfs diff=lfs merge=lfs -text
97053
+ train/FloorPlan302/21/rgb_1_mask_Painting|+01.11|+01.63|-01.87.png filter=lfs diff=lfs merge=lfs -text
97054
+ train/FloorPlan302/21/rgb_1_mask_Safe|+01.62|+00.00|+00.45.png filter=lfs diff=lfs merge=lfs -text
97055
+ train/FloorPlan302/21/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97056
+ train/FloorPlan302/21/rgb_1_mask_TeddyBear|+01.71|+00.70|-00.17.png filter=lfs diff=lfs merge=lfs -text
97057
+ train/FloorPlan302/21/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97058
+ train/FloorPlan302/21/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97059
+ train/FloorPlan302/21/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97060
+ train/FloorPlan302/21/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97061
+ train/FloorPlan302/21/rgb_0_mask_TeddyBear|+01.71|+00.70|-00.17.png filter=lfs diff=lfs merge=lfs -text
97062
+ train/FloorPlan302/21/rgb_0_mask_Safe|+01.62|+00.00|+00.45.png filter=lfs diff=lfs merge=lfs -text
97063
+ train/FloorPlan302/21/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97064
+ train/FloorPlan302/21/rgb_1_mask_Pillow|+01.27|+00.65|-00.63.png filter=lfs diff=lfs merge=lfs -text
97065
+ train/FloorPlan302/21/rgb_0_mask_Painting|+01.11|+01.63|-01.87.png filter=lfs diff=lfs merge=lfs -text
97066
+ train/FloorPlan302/21/rgb_0_mask_Pillow|+01.27|+00.65|-00.63.png filter=lfs diff=lfs merge=lfs -text
97067
+ train/FloorPlan302/1/rgb_0_mask_Shelf|-01.29|+01.81|-00.60.png filter=lfs diff=lfs merge=lfs -text
97068
+ train/FloorPlan302/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97069
+ train/FloorPlan302/1/rgb_0_mask_Mirror|-01.38|+01.57|+00.51.png filter=lfs diff=lfs merge=lfs -text
97070
+ train/FloorPlan302/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97071
+ train/FloorPlan302/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97072
+ train/FloorPlan302/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97073
+ train/FloorPlan302/1/rgb_1_mask_Mirror|-01.38|+01.57|+00.51.png filter=lfs diff=lfs merge=lfs -text
97074
+ train/FloorPlan302/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97075
+ train/FloorPlan302/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97076
+ train/FloorPlan302/1/rgb_0_mask_Shelf|-01.29|+01.45|-00.60.png filter=lfs diff=lfs merge=lfs -text
97077
+ train/FloorPlan302/1/rgb_0_mask_Desk|-00.79|+00.00|-01.03.png filter=lfs diff=lfs merge=lfs -text
97078
+ train/FloorPlan302/1/rgb_1_mask_Shelf|-01.29|+01.81|-00.60.png filter=lfs diff=lfs merge=lfs -text
97079
+ train/FloorPlan302/1/rgb_1_mask_Shelf|-01.29|+01.45|-00.60.png filter=lfs diff=lfs merge=lfs -text
97080
+ train/FloorPlan302/6/rgb_0_mask_Shelf|-01.29|+01.81|-01.34.png filter=lfs diff=lfs merge=lfs -text
97081
+ train/FloorPlan302/6/rgb_1_mask_Blinds|-00.45|+02.16|-02.24.png filter=lfs diff=lfs merge=lfs -text
97082
+ train/FloorPlan302/6/rgb_0_mask_Laptop|-01.04|+00.79|-01.51.png filter=lfs diff=lfs merge=lfs -text
97083
+ train/FloorPlan302/6/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97084
+ train/FloorPlan302/6/rgb_1_mask_Shelf|-01.29|+01.45|-01.34.png filter=lfs diff=lfs merge=lfs -text
97085
+ train/FloorPlan302/6/rgb_0_mask_Chair|-00.68|+00.00|-01.33.png filter=lfs diff=lfs merge=lfs -text
97086
+ train/FloorPlan302/6/rgb_1_mask_Shelf|-01.29|+01.81|-01.34.png filter=lfs diff=lfs merge=lfs -text
97087
+ train/FloorPlan302/6/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97088
+ train/FloorPlan302/6/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97089
+ train/FloorPlan302/6/rgb_1_mask_Chair|-00.68|+00.00|-01.33.png filter=lfs diff=lfs merge=lfs -text
97090
+ train/FloorPlan302/6/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97091
+ train/FloorPlan302/6/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97092
+ train/FloorPlan302/6/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97093
+ train/FloorPlan302/6/rgb_0_mask_Shelf|-01.29|+01.45|-01.34.png filter=lfs diff=lfs merge=lfs -text
97094
+ train/FloorPlan302/6/rgb_0_mask_Blinds|-00.45|+02.16|-02.24.png filter=lfs diff=lfs merge=lfs -text
97095
+ train/FloorPlan302/6/rgb_0_mask_Drawer|+00.42|+00.53|-01.55.png filter=lfs diff=lfs merge=lfs -text
97096
+ train/FloorPlan302/6/rgb_0_mask_HousePlant|-00.08|+00.83|-02.05.png filter=lfs diff=lfs merge=lfs -text
97097
+ train/FloorPlan302/6/rgb_1_mask_Laptop|-01.04|+00.79|-01.51.png filter=lfs diff=lfs merge=lfs -text
97098
+ train/FloorPlan302/11/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97099
+ train/FloorPlan302/11/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97100
+ train/FloorPlan302/11/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97101
+ train/FloorPlan302/11/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97102
+ train/FloorPlan302/11/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97103
+ train/FloorPlan302/11/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97104
+ train/FloorPlan302/11/rgb_1_mask_Pillow|+01.27|+00.65|-00.63.png filter=lfs diff=lfs merge=lfs -text
97105
+ train/FloorPlan302/11/rgb_0_mask_Pillow|+01.27|+00.65|-00.63.png filter=lfs diff=lfs merge=lfs -text
97106
+ train/FloorPlan302/10/rgb_0_mask_Shelf|-01.29|+01.81|-01.34.png filter=lfs diff=lfs merge=lfs -text
97107
+ train/FloorPlan302/10/rgb_0_mask_Shelf|-01.29|+01.81|-00.60.png filter=lfs diff=lfs merge=lfs -text
97108
+ train/FloorPlan302/10/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97109
+ train/FloorPlan302/10/rgb_1_mask_Shelf|-01.29|+01.45|-01.34.png filter=lfs diff=lfs merge=lfs -text
97110
+ train/FloorPlan302/10/rgb_1_mask_Shelf|-01.29|+01.81|-01.34.png filter=lfs diff=lfs merge=lfs -text
97111
+ train/FloorPlan302/10/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97112
+ train/FloorPlan302/10/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97113
+ train/FloorPlan302/10/rgb_1_mask_CellPhone|-01.07|+00.80|-00.64.png filter=lfs diff=lfs merge=lfs -text
97114
+ train/FloorPlan302/10/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97115
+ train/FloorPlan302/10/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97116
+ train/FloorPlan302/10/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97117
+ train/FloorPlan302/10/rgb_0_mask_Shelf|-01.29|+01.45|-01.34.png filter=lfs diff=lfs merge=lfs -text
97118
+ train/FloorPlan302/10/rgb_0_mask_Shelf|-01.29|+01.45|-00.60.png filter=lfs diff=lfs merge=lfs -text
97119
+ train/FloorPlan302/10/rgb_1_mask_Shelf|-01.29|+01.81|-00.60.png filter=lfs diff=lfs merge=lfs -text
97120
+ train/FloorPlan302/10/rgb_1_mask_Shelf|-01.29|+01.45|-00.60.png filter=lfs diff=lfs merge=lfs -text
97121
+ train/FloorPlan302/5/rgb_1_mask_Painting|+01.11|+01.63|-01.87.png filter=lfs diff=lfs merge=lfs -text
97122
+ train/FloorPlan302/5/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97123
+ train/FloorPlan302/5/rgb_1_mask_TeddyBear|+01.71|+00.70|-00.17.png filter=lfs diff=lfs merge=lfs -text
97124
+ train/FloorPlan302/5/rgb_0_mask_AlarmClock|+00.45|+00.67|-01.74.png filter=lfs diff=lfs merge=lfs -text
97125
+ train/FloorPlan302/5/rgb_1_mask_AlarmClock|+00.45|+00.67|-01.74.png filter=lfs diff=lfs merge=lfs -text
97126
+ train/FloorPlan302/5/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97127
+ train/FloorPlan302/5/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97128
+ train/FloorPlan302/5/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97129
+ train/FloorPlan302/5/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97130
+ train/FloorPlan302/5/rgb_0_mask_TeddyBear|+01.71|+00.70|-00.17.png filter=lfs diff=lfs merge=lfs -text
97131
+ train/FloorPlan302/5/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97132
+ train/FloorPlan302/5/rgb_1_mask_Pillow|+01.27|+00.65|-00.63.png filter=lfs diff=lfs merge=lfs -text
97133
+ train/FloorPlan302/5/rgb_1_mask_Drawer|+00.42|+00.53|-01.55.png filter=lfs diff=lfs merge=lfs -text
97134
+ train/FloorPlan302/5/rgb_0_mask_Drawer|+00.42|+00.53|-01.55.png filter=lfs diff=lfs merge=lfs -text
97135
+ train/FloorPlan302/5/rgb_0_mask_Painting|+01.11|+01.63|-01.87.png filter=lfs diff=lfs merge=lfs -text
97136
+ train/FloorPlan302/5/rgb_0_mask_Pillow|+01.27|+00.65|-00.63.png filter=lfs diff=lfs merge=lfs -text
97137
+ train/FloorPlan302/18/rgb_1_mask_Blinds|-00.45|+02.16|-02.24.png filter=lfs diff=lfs merge=lfs -text
97138
+ train/FloorPlan302/18/rgb_1_mask_Painting|+01.11|+01.63|-01.87.png filter=lfs diff=lfs merge=lfs -text
97139
+ train/FloorPlan302/18/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97140
+ train/FloorPlan302/18/rgb_0_mask_AlarmClock|+00.45|+00.67|-01.74.png filter=lfs diff=lfs merge=lfs -text
97141
+ train/FloorPlan302/18/rgb_1_mask_AlarmClock|+00.45|+00.67|-01.74.png filter=lfs diff=lfs merge=lfs -text
97142
+ train/FloorPlan302/18/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97143
+ train/FloorPlan302/18/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97144
+ train/FloorPlan302/18/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97145
+ train/FloorPlan302/18/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97146
+ train/FloorPlan302/18/rgb_0_mask_Bed|+01.24|+00.01|-00.89.png filter=lfs diff=lfs merge=lfs -text
97147
+ train/FloorPlan302/18/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97148
+ train/FloorPlan302/18/rgb_0_mask_Blinds|-00.45|+02.16|-02.24.png filter=lfs diff=lfs merge=lfs -text
97149
+ train/FloorPlan302/18/rgb_0_mask_Drawer|+00.42|+00.53|-01.55.png filter=lfs diff=lfs merge=lfs -text
97150
+ train/FloorPlan302/18/rgb_0_mask_Painting|+01.11|+01.63|-01.87.png filter=lfs diff=lfs merge=lfs -text
97151
+ train/FloorPlan302/8/rgb_1_mask_Safe|+01.62|+00.00|+00.45.png filter=lfs diff=lfs merge=lfs -text
97152
+ train/FloorPlan302/8/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97153
+ train/FloorPlan302/8/rgb_1_mask_TeddyBear|+01.71|+00.70|-00.17.png filter=lfs diff=lfs merge=lfs -text
97154
+ train/FloorPlan302/8/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97155
+ train/FloorPlan302/8/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97156
+ train/FloorPlan302/8/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97157
+ train/FloorPlan302/8/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97158
+ train/FloorPlan302/8/rgb_0_mask_TeddyBear|+01.71|+00.70|-00.17.png filter=lfs diff=lfs merge=lfs -text
97159
+ train/FloorPlan302/8/rgb_0_mask_Safe|+01.62|+00.00|+00.45.png filter=lfs diff=lfs merge=lfs -text
97160
+ train/FloorPlan302/8/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97161
+ train/FloorPlan302/8/rgb_1_mask_Pillow|+01.27|+00.65|-00.63.png filter=lfs diff=lfs merge=lfs -text
97162
+ train/FloorPlan302/8/rgb_0_mask_Pillow|+01.27|+00.65|-00.63.png filter=lfs diff=lfs merge=lfs -text
97163
+ train/FloorPlan302/2/rgb_1_mask_Safe|+01.62|+00.00|+00.45.png filter=lfs diff=lfs merge=lfs -text
97164
+ train/FloorPlan302/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97165
+ train/FloorPlan302/2/rgb_1_mask_TeddyBear|+01.71|+00.70|-00.17.png filter=lfs diff=lfs merge=lfs -text
97166
+ train/FloorPlan302/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97167
+ train/FloorPlan302/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97168
+ train/FloorPlan302/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97169
+ train/FloorPlan302/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97170
+ train/FloorPlan302/2/rgb_0_mask_TeddyBear|+01.71|+00.70|-00.17.png filter=lfs diff=lfs merge=lfs -text
97171
+ train/FloorPlan302/2/rgb_0_mask_Safe|+01.62|+00.00|+00.45.png filter=lfs diff=lfs merge=lfs -text
97172
+ train/FloorPlan302/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97173
+ train/FloorPlan302/2/rgb_1_mask_Pillow|+01.27|+00.65|-00.63.png filter=lfs diff=lfs merge=lfs -text
97174
+ train/FloorPlan302/2/rgb_0_mask_Pillow|+01.27|+00.65|-00.63.png filter=lfs diff=lfs merge=lfs -text
97175
+ train/FloorPlan302/19/rgb_0_mask_Shelf|-01.29|+01.81|-01.34.png filter=lfs diff=lfs merge=lfs -text
97176
+ train/FloorPlan302/19/rgb_1_mask_Blinds|-00.45|+02.16|-02.24.png filter=lfs diff=lfs merge=lfs -text
97177
+ train/FloorPlan302/19/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97178
+ train/FloorPlan302/19/rgb_1_mask_Shelf|-01.29|+01.45|-01.34.png filter=lfs diff=lfs merge=lfs -text
97179
+ train/FloorPlan302/19/rgb_1_mask_Shelf|-01.29|+01.81|-01.34.png filter=lfs diff=lfs merge=lfs -text
97180
+ train/FloorPlan302/19/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97181
+ train/FloorPlan302/19/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97182
+ train/FloorPlan302/19/rgb_1_mask_Book|-00.69|+00.79|-01.72.png filter=lfs diff=lfs merge=lfs -text
97183
+ train/FloorPlan302/19/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97184
+ train/FloorPlan302/19/rgb_0_mask_Bowl|-00.81|+00.83|-02.09.png filter=lfs diff=lfs merge=lfs -text
97185
+ train/FloorPlan302/19/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97186
+ train/FloorPlan302/19/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97187
+ train/FloorPlan302/19/rgb_0_mask_Shelf|-01.29|+01.45|-01.34.png filter=lfs diff=lfs merge=lfs -text
97188
+ train/FloorPlan302/19/rgb_1_mask_Bowl|-00.81|+00.83|-02.09.png filter=lfs diff=lfs merge=lfs -text
97189
+ train/FloorPlan302/19/rgb_0_mask_Blinds|-00.45|+02.16|-02.24.png filter=lfs diff=lfs merge=lfs -text
97190
+ train/FloorPlan302/19/rgb_0_mask_Book|-00.69|+00.79|-01.72.png filter=lfs diff=lfs merge=lfs -text
97191
+ train/FloorPlan302/19/rgb_1_mask_Laptop|-01.04|+00.79|-01.51.png filter=lfs diff=lfs merge=lfs -text
97192
+ train/FloorPlan302/12/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97193
+ train/FloorPlan302/12/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97194
+ train/FloorPlan302/12/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97195
+ train/FloorPlan302/12/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97196
+ train/FloorPlan302/12/rgb_0_mask_SideTable|+00.30|00.00|+01.23.png filter=lfs diff=lfs merge=lfs -text
97197
+ train/FloorPlan302/12/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97198
+ train/FloorPlan302/12/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97199
+ train/train1388/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97200
+ train/train1388/3/rgb_0_mask_Television|2|4.png filter=lfs diff=lfs merge=lfs -text
97201
+ train/train1388/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97202
+ train/train1388/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97203
+ train/train1388/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97204
+ train/train1388/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97205
+ train/train1388/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97206
+ train/train1388/3/rgb_1_mask_Television|2|4.png filter=lfs diff=lfs merge=lfs -text
97207
+ train/train1388/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97208
+ train/train1388/4/rgb_0_mask_Painting|2|6.png filter=lfs diff=lfs merge=lfs -text
97209
+ train/train1388/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97210
+ train/train1388/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97211
+ train/train1388/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97212
+ train/train1388/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97213
+ train/train1388/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97214
+ train/train1388/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
97215
+ train/train1388/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97216
+ train/train1388/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97217
+ train/train1388/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97218
+ train/train1388/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97219
+ train/train1388/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97220
+ train/train1388/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97221
+ train/train1388/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97222
+ train/train1388/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97223
+ train/train1388/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97224
+ train/train1388/1/rgb_1_mask_Tomato|surface|2|2.png filter=lfs diff=lfs merge=lfs -text
97225
+ train/train1388/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97226
+ train/train1388/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97227
+ train/train1388/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97228
+ train/train1388/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97229
+ train/train1388/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97230
+ train/train1388/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97231
+ train/train1388/2/rgb_0_mask_Tomato|surface|2|2.png filter=lfs diff=lfs merge=lfs -text
97232
+ train/train1388/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97233
+ train/train1388/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97234
+ train/train1388/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97235
+ train/train349/top_down_image.png filter=lfs diff=lfs merge=lfs -text
97236
+ train/train349/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97237
+ train/train349/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97238
+ train/train349/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97239
+ train/train349/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97240
+ train/train349/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97241
+ train/train349/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97242
+ train/train349/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97243
+ train/train349/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97244
+ train/train349/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97245
+ train/train349/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97246
+ train/train349/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97247
+ train/train349/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97248
+ train/train349/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
97249
+ train/train349/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
97250
+ train/train349/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97251
+ train/train349/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97252
+ train/train349/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97253
+ train/train349/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text
97254
+ train/train349/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97255
+ train/train349/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
97256
+ train/train349/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97257
+ train/train349/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
97258
+ train/train349/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97259
+ train/train528/top_down_image.png filter=lfs diff=lfs merge=lfs -text
97260
+ train/train528/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97261
+ train/train528/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97262
+ train/train528/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97263
+ train/train528/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97264
+ train/train528/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97265
+ train/train528/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97266
+ train/train528/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97267
+ train/train528/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97268
+ train/train528/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97269
+ train/train528/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97270
+ train/train528/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97271
+ train/train528/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97272
+ train/train528/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
97273
+ train/train528/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
97274
+ train/train528/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97275
+ train/train528/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97276
+ train/train528/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97277
+ train/train528/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text
97278
+ train/train528/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97279
+ train/train528/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text
97280
+ train/train528/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97281
+ train/train528/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
97282
+ train/train528/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97283
+ train/train528/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97284
+ train/train528/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97285
+ train/train528/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97286
+ train/train528/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97287
+ train/train528/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97288
+ train/train528/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97289
+ train/train162/top_down_image.png filter=lfs diff=lfs merge=lfs -text
97290
+ train/train162/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97291
+ train/train162/3/rgb_0_mask_Painting|8|4.png filter=lfs diff=lfs merge=lfs -text
97292
+ train/train162/3/rgb_1_mask_Painting|8|4.png filter=lfs diff=lfs merge=lfs -text
97293
+ train/train162/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97294
+ train/train162/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97295
+ train/train162/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97296
+ train/train162/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97297
+ train/train162/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97298
+ train/train162/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97299
+ train/train162/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97300
+ train/train162/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97301
+ train/train162/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97302
+ train/train162/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97303
+ train/train162/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text
97304
+ train/train162/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text
97305
+ train/train162/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97306
+ train/train162/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text
97307
+ train/train162/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text
97308
+ train/train162/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
97309
+ train/train162/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text
train/FloorPlan302/0/0.json ADDED
@@ -0,0 +1,1329 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "Shelf|-01.29|+01.81|-00.60",
5
+ "object_info": {
6
+ "name": "Shelf_a7d9ee9f",
7
+ "position": {
8
+ "x": -1.2868000268936157,
9
+ "y": 1.8143999576568604,
10
+ "z": -0.6029999852180481
11
+ },
12
+ "rotation": {
13
+ "x": -0.0,
14
+ "y": 0.0,
15
+ "z": 0.0
16
+ },
17
+ "visible": true,
18
+ "isInteractable": true,
19
+ "receptacle": true,
20
+ "toggleable": false,
21
+ "isToggled": false,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": false,
39
+ "isOpen": false,
40
+ "openness": 0.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": false,
44
+ "mass": 0.0,
45
+ "salientMaterials": null,
46
+ "receptacleObjectIds": [],
47
+ "distance": 1.689308762550354,
48
+ "objectType": "Shelf",
49
+ "objectId": "Shelf|-01.29|+01.81|-00.60",
50
+ "assetId": "",
51
+ "parentReceptacles": null,
52
+ "controlledObjects": null,
53
+ "isMoving": false,
54
+ "axisAlignedBoundingBox": {
55
+ "cornerPoints": [
56
+ [
57
+ -1.1771008968353271,
58
+ 2.141514301300049,
59
+ -0.24500679969787598
60
+ ],
61
+ [
62
+ -1.1771008968353271,
63
+ 2.141514301300049,
64
+ -0.9554154872894287
65
+ ],
66
+ [
67
+ -1.1771008968353271,
68
+ 1.8138823509216309,
69
+ -0.24500679969787598
70
+ ],
71
+ [
72
+ -1.1771008968353271,
73
+ 1.8138823509216309,
74
+ -0.9554154872894287
75
+ ],
76
+ [
77
+ -1.3916823863983154,
78
+ 2.141514301300049,
79
+ -0.24500679969787598
80
+ ],
81
+ [
82
+ -1.3916823863983154,
83
+ 2.141514301300049,
84
+ -0.9554154872894287
85
+ ],
86
+ [
87
+ -1.3916823863983154,
88
+ 1.8138823509216309,
89
+ -0.24500679969787598
90
+ ],
91
+ [
92
+ -1.3916823863983154,
93
+ 1.8138823509216309,
94
+ -0.9554154872894287
95
+ ]
96
+ ],
97
+ "center": {
98
+ "x": -1.2843916416168213,
99
+ "y": 1.9776983261108398,
100
+ "z": -0.6002111434936523
101
+ },
102
+ "size": {
103
+ "x": 0.21458148956298828,
104
+ "y": 0.32763195037841797,
105
+ "z": 0.7104086875915527
106
+ }
107
+ },
108
+ "objectOrientedBoundingBox": null
109
+ }
110
+ },
111
+ {
112
+ "objectId": "Drawer|+00.30|+00.46|+01.16",
113
+ "object_info": {
114
+ "name": "Drawer_8f3dd27f",
115
+ "position": {
116
+ "x": 0.304706871509552,
117
+ "y": 0.45572322607040405,
118
+ "z": 1.1591870784759521
119
+ },
120
+ "rotation": {
121
+ "x": -0.001957286847755313,
122
+ "y": 180.0015106201172,
123
+ "z": 0.0008084956207312644
124
+ },
125
+ "visible": false,
126
+ "isInteractable": false,
127
+ "receptacle": true,
128
+ "toggleable": false,
129
+ "isToggled": false,
130
+ "breakable": false,
131
+ "isBroken": false,
132
+ "canFillWithLiquid": false,
133
+ "isFilledWithLiquid": false,
134
+ "fillLiquid": null,
135
+ "dirtyable": false,
136
+ "isDirty": false,
137
+ "canBeUsedUp": false,
138
+ "isUsedUp": false,
139
+ "cookable": false,
140
+ "isCooked": false,
141
+ "temperature": "RoomTemp",
142
+ "isHeatSource": false,
143
+ "isColdSource": false,
144
+ "sliceable": false,
145
+ "isSliced": false,
146
+ "openable": true,
147
+ "isOpen": false,
148
+ "openness": 0.0,
149
+ "pickupable": false,
150
+ "isPickedUp": false,
151
+ "moveable": false,
152
+ "mass": 0.0,
153
+ "salientMaterials": null,
154
+ "receptacleObjectIds": [],
155
+ "distance": 1.278605341911316,
156
+ "objectType": "Drawer",
157
+ "objectId": "Drawer|+00.30|+00.46|+01.16",
158
+ "assetId": "",
159
+ "parentReceptacles": null,
160
+ "controlledObjects": null,
161
+ "isMoving": false,
162
+ "axisAlignedBoundingBox": {
163
+ "cornerPoints": [
164
+ [
165
+ 0.5662636756896973,
166
+ 0.6236447095870972,
167
+ 1.2817351818084717
168
+ ],
169
+ [
170
+ 0.5662636756896973,
171
+ 0.6236447095870972,
172
+ 1.035210371017456
173
+ ],
174
+ [
175
+ 0.5662636756896973,
176
+ 0.32685256004333496,
177
+ 1.2817351818084717
178
+ ],
179
+ [
180
+ 0.5662636756896973,
181
+ 0.32685256004333496,
182
+ 1.035210371017456
183
+ ],
184
+ [
185
+ 0.04312920570373535,
186
+ 0.6236447095870972,
187
+ 1.2817351818084717
188
+ ],
189
+ [
190
+ 0.04312920570373535,
191
+ 0.6236447095870972,
192
+ 1.035210371017456
193
+ ],
194
+ [
195
+ 0.04312920570373535,
196
+ 0.32685256004333496,
197
+ 1.2817351818084717
198
+ ],
199
+ [
200
+ 0.04312920570373535,
201
+ 0.32685256004333496,
202
+ 1.035210371017456
203
+ ]
204
+ ],
205
+ "center": {
206
+ "x": 0.3046964406967163,
207
+ "y": 0.47524863481521606,
208
+ "z": 1.1584727764129639
209
+ },
210
+ "size": {
211
+ "x": 0.5231344699859619,
212
+ "y": 0.2967921495437622,
213
+ "z": 0.24652481079101562
214
+ }
215
+ },
216
+ "objectOrientedBoundingBox": null
217
+ }
218
+ },
219
+ {
220
+ "objectId": "Desk|-00.79|+00.00|-01.03",
221
+ "object_info": {
222
+ "name": "Desk_01ca18b8",
223
+ "position": {
224
+ "x": -0.7880603075027466,
225
+ "y": 0.0004979968070983887,
226
+ "z": -1.0329155921936035
227
+ },
228
+ "rotation": {
229
+ "x": 359.33953857421875,
230
+ "y": 89.71826171875,
231
+ "z": 359.55328369140625
232
+ },
233
+ "visible": true,
234
+ "isInteractable": true,
235
+ "receptacle": true,
236
+ "toggleable": false,
237
+ "isToggled": false,
238
+ "breakable": false,
239
+ "isBroken": false,
240
+ "canFillWithLiquid": false,
241
+ "isFilledWithLiquid": false,
242
+ "fillLiquid": null,
243
+ "dirtyable": false,
244
+ "isDirty": false,
245
+ "canBeUsedUp": false,
246
+ "isUsedUp": false,
247
+ "cookable": false,
248
+ "isCooked": false,
249
+ "temperature": "RoomTemp",
250
+ "isHeatSource": false,
251
+ "isColdSource": false,
252
+ "sliceable": false,
253
+ "isSliced": false,
254
+ "openable": false,
255
+ "isOpen": false,
256
+ "openness": 0.0,
257
+ "pickupable": false,
258
+ "isPickedUp": false,
259
+ "moveable": false,
260
+ "mass": 34.0,
261
+ "salientMaterials": [
262
+ "Wood"
263
+ ],
264
+ "receptacleObjectIds": [
265
+ "CD|-01.30|+00.80|-00.31",
266
+ "CellPhone|-01.07|+00.80|-00.64",
267
+ "Pen|-01.13|+00.80|-01.24",
268
+ "Pencil|-01.16|+00.80|-01.18",
269
+ "Laptop|-01.04|+00.79|-01.51",
270
+ "Book|-00.69|+00.79|-01.72",
271
+ "CreditCard|-00.39|+00.80|-01.70",
272
+ "KeyChain|-00.55|+00.80|-01.52"
273
+ ],
274
+ "distance": 1.5807770490646362,
275
+ "objectType": "Desk",
276
+ "objectId": "Desk|-00.79|+00.00|-01.03",
277
+ "assetId": "Desk_302_1",
278
+ "parentReceptacles": [
279
+ "Chair|-00.68|+00.00|-01.33",
280
+ "Floor|+00.00|+00.00|+00.00"
281
+ ],
282
+ "controlledObjects": null,
283
+ "isMoving": false,
284
+ "axisAlignedBoundingBox": {
285
+ "cornerPoints": [
286
+ [
287
+ -0.1982954740524292,
288
+ 0.8021975755691528,
289
+ -0.16861772537231445
290
+ ],
291
+ [
292
+ -0.1982954740524292,
293
+ 0.8021975755691528,
294
+ -1.9000144004821777
295
+ ],
296
+ [
297
+ -0.1982954740524292,
298
+ -2.193450927734375e-05,
299
+ -0.16861772537231445
300
+ ],
301
+ [
302
+ -0.1982954740524292,
303
+ -2.193450927734375e-05,
304
+ -1.9000144004821777
305
+ ],
306
+ [
307
+ -1.397121787071228,
308
+ 0.8021975755691528,
309
+ -0.16861772537231445
310
+ ],
311
+ [
312
+ -1.397121787071228,
313
+ 0.8021975755691528,
314
+ -1.9000144004821777
315
+ ],
316
+ [
317
+ -1.397121787071228,
318
+ -2.193450927734375e-05,
319
+ -0.16861772537231445
320
+ ],
321
+ [
322
+ -1.397121787071228,
323
+ -2.193450927734375e-05,
324
+ -1.9000144004821777
325
+ ]
326
+ ],
327
+ "center": {
328
+ "x": -0.7977086305618286,
329
+ "y": 0.40108782052993774,
330
+ "z": -1.034316062927246
331
+ },
332
+ "size": {
333
+ "x": 1.1988263130187988,
334
+ "y": 0.8022195100784302,
335
+ "z": 1.7313966751098633
336
+ }
337
+ },
338
+ "objectOrientedBoundingBox": null
339
+ }
340
+ },
341
+ {
342
+ "objectId": "Mirror|-01.38|+01.57|+00.51",
343
+ "object_info": {
344
+ "name": "Mirror_db756642",
345
+ "position": {
346
+ "x": -1.3839999437332153,
347
+ "y": 1.565000057220459,
348
+ "z": 0.5120000243186951
349
+ },
350
+ "rotation": {
351
+ "x": -0.0,
352
+ "y": 270.0,
353
+ "z": 0.0
354
+ },
355
+ "visible": false,
356
+ "isInteractable": false,
357
+ "receptacle": false,
358
+ "toggleable": false,
359
+ "isToggled": false,
360
+ "breakable": true,
361
+ "isBroken": false,
362
+ "canFillWithLiquid": false,
363
+ "isFilledWithLiquid": false,
364
+ "fillLiquid": null,
365
+ "dirtyable": true,
366
+ "isDirty": false,
367
+ "canBeUsedUp": false,
368
+ "isUsedUp": false,
369
+ "cookable": false,
370
+ "isCooked": false,
371
+ "temperature": "RoomTemp",
372
+ "isHeatSource": false,
373
+ "isColdSource": false,
374
+ "sliceable": false,
375
+ "isSliced": false,
376
+ "openable": false,
377
+ "isOpen": false,
378
+ "openness": 0.0,
379
+ "pickupable": false,
380
+ "isPickedUp": false,
381
+ "moveable": false,
382
+ "mass": 0.0,
383
+ "salientMaterials": null,
384
+ "receptacleObjectIds": null,
385
+ "distance": 1.618177056312561,
386
+ "objectType": "Mirror",
387
+ "objectId": "Mirror|-01.38|+01.57|+00.51",
388
+ "assetId": "",
389
+ "parentReceptacles": null,
390
+ "controlledObjects": null,
391
+ "isMoving": false,
392
+ "axisAlignedBoundingBox": {
393
+ "cornerPoints": [
394
+ [
395
+ -1.33620023727417,
396
+ 1.847362995147705,
397
+ 0.7824673652648926
398
+ ],
399
+ [
400
+ -1.33620023727417,
401
+ 1.847362995147705,
402
+ 0.22343194484710693
403
+ ],
404
+ [
405
+ -1.33620023727417,
406
+ 1.1790292263031006,
407
+ 0.7824673652648926
408
+ ],
409
+ [
410
+ -1.33620023727417,
411
+ 1.1790292263031006,
412
+ 0.22343194484710693
413
+ ],
414
+ [
415
+ -1.386000156402588,
416
+ 1.847362995147705,
417
+ 0.7824673652648926
418
+ ],
419
+ [
420
+ -1.386000156402588,
421
+ 1.847362995147705,
422
+ 0.22343194484710693
423
+ ],
424
+ [
425
+ -1.386000156402588,
426
+ 1.1790292263031006,
427
+ 0.7824673652648926
428
+ ],
429
+ [
430
+ -1.386000156402588,
431
+ 1.1790292263031006,
432
+ 0.22343194484710693
433
+ ]
434
+ ],
435
+ "center": {
436
+ "x": -1.361100196838379,
437
+ "y": 1.5131961107254028,
438
+ "z": 0.5029496550559998
439
+ },
440
+ "size": {
441
+ "x": 0.04979991912841797,
442
+ "y": 0.6683337688446045,
443
+ "z": 0.5590354204177856
444
+ }
445
+ },
446
+ "objectOrientedBoundingBox": null
447
+ }
448
+ },
449
+ {
450
+ "objectId": "Shelf|-01.29|+01.45|-00.60",
451
+ "object_info": {
452
+ "name": "Shelf_2f16b4c5",
453
+ "position": {
454
+ "x": -1.2868000268936157,
455
+ "y": 1.4511127471923828,
456
+ "z": -0.6029999852180481
457
+ },
458
+ "rotation": {
459
+ "x": -0.0,
460
+ "y": 0.0,
461
+ "z": 0.0
462
+ },
463
+ "visible": true,
464
+ "isInteractable": true,
465
+ "receptacle": true,
466
+ "toggleable": false,
467
+ "isToggled": false,
468
+ "breakable": false,
469
+ "isBroken": false,
470
+ "canFillWithLiquid": false,
471
+ "isFilledWithLiquid": false,
472
+ "fillLiquid": null,
473
+ "dirtyable": false,
474
+ "isDirty": false,
475
+ "canBeUsedUp": false,
476
+ "isUsedUp": false,
477
+ "cookable": false,
478
+ "isCooked": false,
479
+ "temperature": "RoomTemp",
480
+ "isHeatSource": false,
481
+ "isColdSource": false,
482
+ "sliceable": false,
483
+ "isSliced": false,
484
+ "openable": false,
485
+ "isOpen": false,
486
+ "openness": 0.0,
487
+ "pickupable": false,
488
+ "isPickedUp": false,
489
+ "moveable": false,
490
+ "mass": 0.0,
491
+ "salientMaterials": null,
492
+ "receptacleObjectIds": [],
493
+ "distance": 1.5238399505615234,
494
+ "objectType": "Shelf",
495
+ "objectId": "Shelf|-01.29|+01.45|-00.60",
496
+ "assetId": "",
497
+ "parentReceptacles": null,
498
+ "controlledObjects": null,
499
+ "isMoving": false,
500
+ "axisAlignedBoundingBox": {
501
+ "cornerPoints": [
502
+ [
503
+ -1.1771008968353271,
504
+ 1.7801129817962646,
505
+ -0.2451193928718567
506
+ ],
507
+ [
508
+ -1.1771008968353271,
509
+ 1.7801129817962646,
510
+ -0.9555280804634094
511
+ ],
512
+ [
513
+ -1.1771008968353271,
514
+ 1.4524810314178467,
515
+ -0.2451193928718567
516
+ ],
517
+ [
518
+ -1.1771008968353271,
519
+ 1.4524810314178467,
520
+ -0.9555280804634094
521
+ ],
522
+ [
523
+ -1.3916823863983154,
524
+ 1.7801129817962646,
525
+ -0.2451193928718567
526
+ ],
527
+ [
528
+ -1.3916823863983154,
529
+ 1.7801129817962646,
530
+ -0.9555280804634094
531
+ ],
532
+ [
533
+ -1.3916823863983154,
534
+ 1.4524810314178467,
535
+ -0.2451193928718567
536
+ ],
537
+ [
538
+ -1.3916823863983154,
539
+ 1.4524810314178467,
540
+ -0.9555280804634094
541
+ ]
542
+ ],
543
+ "center": {
544
+ "x": -1.2843916416168213,
545
+ "y": 1.6162970066070557,
546
+ "z": -0.6003237366676331
547
+ },
548
+ "size": {
549
+ "x": 0.21458148956298828,
550
+ "y": 0.32763195037841797,
551
+ "z": 0.7104086875915527
552
+ }
553
+ },
554
+ "objectOrientedBoundingBox": null
555
+ }
556
+ },
557
+ {
558
+ "objectId": "LightSwitch|+00.01|+01.32|+01.50",
559
+ "object_info": {
560
+ "name": "LightSwitch_91f60c59",
561
+ "position": {
562
+ "x": 0.010999999940395355,
563
+ "y": 1.315000057220459,
564
+ "z": 1.4999998807907104
565
+ },
566
+ "rotation": {
567
+ "x": -0.0,
568
+ "y": 180.0000762939453,
569
+ "z": 0.0
570
+ },
571
+ "visible": false,
572
+ "isInteractable": false,
573
+ "receptacle": false,
574
+ "toggleable": true,
575
+ "isToggled": true,
576
+ "breakable": false,
577
+ "isBroken": false,
578
+ "canFillWithLiquid": false,
579
+ "isFilledWithLiquid": false,
580
+ "fillLiquid": null,
581
+ "dirtyable": false,
582
+ "isDirty": false,
583
+ "canBeUsedUp": false,
584
+ "isUsedUp": false,
585
+ "cookable": false,
586
+ "isCooked": false,
587
+ "temperature": "RoomTemp",
588
+ "isHeatSource": false,
589
+ "isColdSource": false,
590
+ "sliceable": false,
591
+ "isSliced": false,
592
+ "openable": false,
593
+ "isOpen": false,
594
+ "openness": 0.0,
595
+ "pickupable": false,
596
+ "isPickedUp": false,
597
+ "moveable": false,
598
+ "mass": 0.0,
599
+ "salientMaterials": null,
600
+ "receptacleObjectIds": null,
601
+ "distance": 1.5561225414276123,
602
+ "objectType": "LightSwitch",
603
+ "objectId": "LightSwitch|+00.01|+01.32|+01.50",
604
+ "assetId": "Light_Switch_2",
605
+ "parentReceptacles": null,
606
+ "controlledObjects": [],
607
+ "isMoving": false,
608
+ "axisAlignedBoundingBox": {
609
+ "cornerPoints": [
610
+ [
611
+ 0.06987692415714264,
612
+ 1.3756191730499268,
613
+ 1.5
614
+ ],
615
+ [
616
+ 0.06987692415714264,
617
+ 1.3756191730499268,
618
+ 1.4692409038543701
619
+ ],
620
+ [
621
+ 0.06987692415714264,
622
+ 1.2543809413909912,
623
+ 1.5
624
+ ],
625
+ [
626
+ 0.06987692415714264,
627
+ 1.2543809413909912,
628
+ 1.4692409038543701
629
+ ],
630
+ [
631
+ -0.04787696152925491,
632
+ 1.3756191730499268,
633
+ 1.5
634
+ ],
635
+ [
636
+ -0.04787696152925491,
637
+ 1.3756191730499268,
638
+ 1.4692409038543701
639
+ ],
640
+ [
641
+ -0.04787696152925491,
642
+ 1.2543809413909912,
643
+ 1.5
644
+ ],
645
+ [
646
+ -0.04787696152925491,
647
+ 1.2543809413909912,
648
+ 1.4692409038543701
649
+ ]
650
+ ],
651
+ "center": {
652
+ "x": 0.010999981313943863,
653
+ "y": 1.315000057220459,
654
+ "z": 1.484620451927185
655
+ },
656
+ "size": {
657
+ "x": 0.11775388568639755,
658
+ "y": 0.12123823165893555,
659
+ "z": 0.030759096145629883
660
+ }
661
+ },
662
+ "objectOrientedBoundingBox": null
663
+ }
664
+ },
665
+ {
666
+ "objectId": "TennisRacket|-01.24|+00.32|-00.07",
667
+ "object_info": {
668
+ "name": "TennisRacket_ae57a35a",
669
+ "position": {
670
+ "x": -1.2368144989013672,
671
+ "y": 0.31803423166275024,
672
+ "z": -0.06861582398414612
673
+ },
674
+ "rotation": {
675
+ "x": 285.0068359375,
676
+ "y": 187.89158630371094,
677
+ "z": 172.5447540283203
678
+ },
679
+ "visible": false,
680
+ "isInteractable": false,
681
+ "receptacle": false,
682
+ "toggleable": false,
683
+ "isToggled": false,
684
+ "breakable": false,
685
+ "isBroken": false,
686
+ "canFillWithLiquid": false,
687
+ "isFilledWithLiquid": false,
688
+ "fillLiquid": null,
689
+ "dirtyable": false,
690
+ "isDirty": false,
691
+ "canBeUsedUp": false,
692
+ "isUsedUp": false,
693
+ "cookable": false,
694
+ "isCooked": false,
695
+ "temperature": "RoomTemp",
696
+ "isHeatSource": false,
697
+ "isColdSource": false,
698
+ "sliceable": false,
699
+ "isSliced": false,
700
+ "openable": false,
701
+ "isOpen": false,
702
+ "openness": 0.0,
703
+ "pickupable": true,
704
+ "isPickedUp": false,
705
+ "moveable": false,
706
+ "mass": 0.3100000023841858,
707
+ "salientMaterials": [
708
+ "Metal",
709
+ "Plastic"
710
+ ],
711
+ "receptacleObjectIds": null,
712
+ "distance": 1.369038462638855,
713
+ "objectType": "TennisRacket",
714
+ "objectId": "TennisRacket|-01.24|+00.32|-00.07",
715
+ "assetId": "Tennis_Racquet_1",
716
+ "parentReceptacles": [
717
+ "Floor|+00.00|+00.00|+00.00"
718
+ ],
719
+ "controlledObjects": null,
720
+ "isMoving": false,
721
+ "axisAlignedBoundingBox": {
722
+ "cornerPoints": [
723
+ [
724
+ -1.0993437767028809,
725
+ 0.6421774625778198,
726
+ 0.02435949444770813
727
+ ],
728
+ [
729
+ -1.0993437767028809,
730
+ 0.6421774625778198,
731
+ -0.17469128966331482
732
+ ],
733
+ [
734
+ -1.0993437767028809,
735
+ -0.00012359023094177246,
736
+ 0.02435949444770813
737
+ ],
738
+ [
739
+ -1.0993437767028809,
740
+ -0.00012359023094177246,
741
+ -0.17469128966331482
742
+ ],
743
+ [
744
+ -1.3617429733276367,
745
+ 0.6421774625778198,
746
+ 0.02435949444770813
747
+ ],
748
+ [
749
+ -1.3617429733276367,
750
+ 0.6421774625778198,
751
+ -0.17469128966331482
752
+ ],
753
+ [
754
+ -1.3617429733276367,
755
+ -0.00012359023094177246,
756
+ 0.02435949444770813
757
+ ],
758
+ [
759
+ -1.3617429733276367,
760
+ -0.00012359023094177246,
761
+ -0.17469128966331482
762
+ ]
763
+ ],
764
+ "center": {
765
+ "x": -1.2305433750152588,
766
+ "y": 0.3210269510746002,
767
+ "z": -0.07516589760780334
768
+ },
769
+ "size": {
770
+ "x": 0.26239919662475586,
771
+ "y": 0.642301082611084,
772
+ "z": 0.19905078411102295
773
+ }
774
+ },
775
+ "objectOrientedBoundingBox": {
776
+ "cornerPoints": [
777
+ [
778
+ -1.121067762374878,
779
+ 0.6456720232963562,
780
+ -0.13305240869522095
781
+ ],
782
+ [
783
+ -1.3766573667526245,
784
+ 0.6370794773101807,
785
+ -0.12998363375663757
786
+ ],
787
+ [
788
+ -1.3534431457519531,
789
+ 0.006373554468154907,
790
+ 0.037493109703063965
791
+ ],
792
+ [
793
+ -1.097853422164917,
794
+ 0.014966130256652832,
795
+ 0.03442433476448059
796
+ ],
797
+ [
798
+ -1.121199607849121,
799
+ 0.6342790126800537,
800
+ -0.1759394407272339
801
+ ],
802
+ [
803
+ -1.3767893314361572,
804
+ 0.6256864666938782,
805
+ -0.1728706657886505
806
+ ],
807
+ [
808
+ -1.3535751104354858,
809
+ -0.005019456148147583,
810
+ -0.005393922328948975
811
+ ],
812
+ [
813
+ -1.0979853868484497,
814
+ 0.003573119640350342,
815
+ -0.008462697267532349
816
+ ]
817
+ ]
818
+ }
819
+ }
820
+ },
821
+ {
822
+ "objectId": "SideTable|+00.30|00.00|+01.23",
823
+ "object_info": {
824
+ "name": "SideTable_e5d2b9bb",
825
+ "position": {
826
+ "x": 0.3049811124801636,
827
+ "y": -0.001862645149230957,
828
+ "z": 1.2259849309921265
829
+ },
830
+ "rotation": {
831
+ "x": -0.001957286847755313,
832
+ "y": 180.0015106201172,
833
+ "z": 0.0008084956207312644
834
+ },
835
+ "visible": false,
836
+ "isInteractable": false,
837
+ "receptacle": true,
838
+ "toggleable": false,
839
+ "isToggled": false,
840
+ "breakable": false,
841
+ "isBroken": false,
842
+ "canFillWithLiquid": false,
843
+ "isFilledWithLiquid": false,
844
+ "fillLiquid": null,
845
+ "dirtyable": false,
846
+ "isDirty": false,
847
+ "canBeUsedUp": false,
848
+ "isUsedUp": false,
849
+ "cookable": false,
850
+ "isCooked": false,
851
+ "temperature": "RoomTemp",
852
+ "isHeatSource": false,
853
+ "isColdSource": false,
854
+ "sliceable": false,
855
+ "isSliced": false,
856
+ "openable": false,
857
+ "isOpen": false,
858
+ "openness": 0.0,
859
+ "pickupable": false,
860
+ "isPickedUp": false,
861
+ "moveable": true,
862
+ "mass": 11.0,
863
+ "salientMaterials": [
864
+ "Metal"
865
+ ],
866
+ "receptacleObjectIds": [
867
+ "DeskLamp|+00.47|+00.67|+01.35"
868
+ ],
869
+ "distance": 1.5528078079223633,
870
+ "objectType": "SideTable",
871
+ "objectId": "SideTable|+00.30|00.00|+01.23",
872
+ "assetId": "Side_Table_302_1_1",
873
+ "parentReceptacles": [
874
+ "Floor|+00.00|+00.00|+00.00"
875
+ ],
876
+ "controlledObjects": null,
877
+ "isMoving": false,
878
+ "axisAlignedBoundingBox": {
879
+ "cornerPoints": [
880
+ [
881
+ 0.6161160469055176,
882
+ 0.6686114072799683,
883
+ 1.4148297309875488
884
+ ],
885
+ [
886
+ 0.6161160469055176,
887
+ 0.6686114072799683,
888
+ 1.0491373538970947
889
+ ],
890
+ [
891
+ 0.6161160469055176,
892
+ -4.827976226806641e-06,
893
+ 1.4148297309875488
894
+ ],
895
+ [
896
+ 0.6161160469055176,
897
+ -4.827976226806641e-06,
898
+ 1.0491373538970947
899
+ ],
900
+ [
901
+ -0.0061644017696380615,
902
+ 0.6686114072799683,
903
+ 1.4148297309875488
904
+ ],
905
+ [
906
+ -0.0061644017696380615,
907
+ 0.6686114072799683,
908
+ 1.0491373538970947
909
+ ],
910
+ [
911
+ -0.0061644017696380615,
912
+ -4.827976226806641e-06,
913
+ 1.4148297309875488
914
+ ],
915
+ [
916
+ -0.0061644017696380615,
917
+ -4.827976226806641e-06,
918
+ 1.0491373538970947
919
+ ]
920
+ ],
921
+ "center": {
922
+ "x": 0.30497583746910095,
923
+ "y": 0.3343032896518707,
924
+ "z": 1.2319835424423218
925
+ },
926
+ "size": {
927
+ "x": 0.622280478477478,
928
+ "y": 0.6686162352561951,
929
+ "z": 0.3656923770904541
930
+ }
931
+ },
932
+ "objectOrientedBoundingBox": {
933
+ "cornerPoints": [
934
+ [
935
+ -0.006164729595184326,
936
+ -3.1387899070978165e-06,
937
+ 1.0491620302200317
938
+ ],
939
+ [
940
+ 0.6161027550697327,
941
+ -4.147063009440899e-06,
942
+ 1.0491406917572021
943
+ ],
944
+ [
945
+ 0.6161153316497803,
946
+ -2.221902832388878e-06,
947
+ 1.4148083925247192
948
+ ],
949
+ [
950
+ -0.006152153015136719,
951
+ -1.2136297300457954e-06,
952
+ 1.4148298501968384
953
+ ],
954
+ [
955
+ -0.006163656711578369,
956
+ 0.6686108112335205,
957
+ 1.0491585731506348
958
+ ],
959
+ [
960
+ 0.6161038279533386,
961
+ 0.6686098575592041,
962
+ 1.0491371154785156
963
+ ],
964
+ [
965
+ 0.6161164045333862,
966
+ 0.6686118245124817,
967
+ 1.4148049354553223
968
+ ],
969
+ [
970
+ -0.006151080131530762,
971
+ 0.6686127781867981,
972
+ 1.4148262739181519
973
+ ]
974
+ ]
975
+ }
976
+ }
977
+ },
978
+ {
979
+ "objectId": "DeskLamp|+00.47|+00.67|+01.35",
980
+ "object_info": {
981
+ "name": "DeskLamp_7c4fa288",
982
+ "position": {
983
+ "x": 0.47372183203697205,
984
+ "y": 0.6693316698074341,
985
+ "z": 1.3501641750335693
986
+ },
987
+ "rotation": {
988
+ "x": 0.05758395791053772,
989
+ "y": 359.978515625,
990
+ "z": 0.018180834129452705
991
+ },
992
+ "visible": false,
993
+ "isInteractable": false,
994
+ "receptacle": false,
995
+ "toggleable": true,
996
+ "isToggled": true,
997
+ "breakable": false,
998
+ "isBroken": false,
999
+ "canFillWithLiquid": false,
1000
+ "isFilledWithLiquid": false,
1001
+ "fillLiquid": null,
1002
+ "dirtyable": false,
1003
+ "isDirty": false,
1004
+ "canBeUsedUp": false,
1005
+ "isUsedUp": false,
1006
+ "cookable": false,
1007
+ "isCooked": false,
1008
+ "temperature": "RoomTemp",
1009
+ "isHeatSource": false,
1010
+ "isColdSource": false,
1011
+ "sliceable": false,
1012
+ "isSliced": false,
1013
+ "openable": false,
1014
+ "isOpen": false,
1015
+ "openness": 0.0,
1016
+ "pickupable": false,
1017
+ "isPickedUp": false,
1018
+ "moveable": true,
1019
+ "mass": 2.059999942779541,
1020
+ "salientMaterials": [
1021
+ "Metal",
1022
+ "Fabric"
1023
+ ],
1024
+ "receptacleObjectIds": null,
1025
+ "distance": 1.4494915008544922,
1026
+ "objectType": "DeskLamp",
1027
+ "objectId": "DeskLamp|+00.47|+00.67|+01.35",
1028
+ "assetId": "Desk_Lamp_2",
1029
+ "parentReceptacles": [
1030
+ "SideTable|+00.30|00.00|+01.23"
1031
+ ],
1032
+ "controlledObjects": [],
1033
+ "isMoving": false,
1034
+ "axisAlignedBoundingBox": {
1035
+ "cornerPoints": [
1036
+ [
1037
+ 0.600147008895874,
1038
+ 1.0706360340118408,
1039
+ 1.4938673973083496
1040
+ ],
1041
+ [
1042
+ 0.600147008895874,
1043
+ 1.0706360340118408,
1044
+ 1.2075088024139404
1045
+ ],
1046
+ [
1047
+ 0.600147008895874,
1048
+ 0.6685914993286133,
1049
+ 1.4938673973083496
1050
+ ],
1051
+ [
1052
+ 0.600147008895874,
1053
+ 0.6685914993286133,
1054
+ 1.2075088024139404
1055
+ ],
1056
+ [
1057
+ 0.3456754684448242,
1058
+ 1.0706360340118408,
1059
+ 1.4938673973083496
1060
+ ],
1061
+ [
1062
+ 0.3456754684448242,
1063
+ 1.0706360340118408,
1064
+ 1.2075088024139404
1065
+ ],
1066
+ [
1067
+ 0.3456754684448242,
1068
+ 0.6685914993286133,
1069
+ 1.4938673973083496
1070
+ ],
1071
+ [
1072
+ 0.3456754684448242,
1073
+ 0.6685914993286133,
1074
+ 1.2075088024139404
1075
+ ]
1076
+ ],
1077
+ "center": {
1078
+ "x": 0.4729112386703491,
1079
+ "y": 0.869613766670227,
1080
+ "z": 1.350688099861145
1081
+ },
1082
+ "size": {
1083
+ "x": 0.2544715404510498,
1084
+ "y": 0.40204453468322754,
1085
+ "z": 0.2863585948944092
1086
+ }
1087
+ },
1088
+ "objectOrientedBoundingBox": {
1089
+ "cornerPoints": [
1090
+ [
1091
+ 0.6001302599906921,
1092
+ 0.6685873866081238,
1093
+ 1.4937670230865479
1094
+ ],
1095
+ [
1096
+ 0.34568607807159424,
1097
+ 0.668555736541748,
1098
+ 1.4937102794647217
1099
+ ],
1100
+ [
1101
+ 0.3457498848438263,
1102
+ 0.6687047481536865,
1103
+ 1.2073514461517334
1104
+ ],
1105
+ [
1106
+ 0.6001940965652466,
1107
+ 0.668736457824707,
1108
+ 1.20740807056427
1109
+ ],
1110
+ [
1111
+ 0.6000802516937256,
1112
+ 1.0705513954162598,
1113
+ 1.4939762353897095
1114
+ ],
1115
+ [
1116
+ 0.3456360101699829,
1117
+ 1.0705196857452393,
1118
+ 1.4939194917678833
1119
+ ],
1120
+ [
1121
+ 0.34569984674453735,
1122
+ 1.0706686973571777,
1123
+ 1.207560658454895
1124
+ ],
1125
+ [
1126
+ 0.6001440286636353,
1127
+ 1.0707004070281982,
1128
+ 1.2076174020767212
1129
+ ]
1130
+ ]
1131
+ }
1132
+ }
1133
+ },
1134
+ {
1135
+ "objectId": "CellPhone|-01.07|+00.80|-00.64",
1136
+ "object_info": {
1137
+ "name": "CellPhone_d688f9d9",
1138
+ "position": {
1139
+ "x": -1.0740317106246948,
1140
+ "y": 0.7958630323410034,
1141
+ "z": -0.6380314826965332
1142
+ },
1143
+ "rotation": {
1144
+ "x": 0.006098452024161816,
1145
+ "y": 146.07643127441406,
1146
+ "z": 359.2025451660156
1147
+ },
1148
+ "visible": false,
1149
+ "isInteractable": false,
1150
+ "receptacle": false,
1151
+ "toggleable": true,
1152
+ "isToggled": false,
1153
+ "breakable": true,
1154
+ "isBroken": false,
1155
+ "canFillWithLiquid": false,
1156
+ "isFilledWithLiquid": false,
1157
+ "fillLiquid": null,
1158
+ "dirtyable": false,
1159
+ "isDirty": false,
1160
+ "canBeUsedUp": false,
1161
+ "isUsedUp": false,
1162
+ "cookable": false,
1163
+ "isCooked": false,
1164
+ "temperature": "RoomTemp",
1165
+ "isHeatSource": false,
1166
+ "isColdSource": false,
1167
+ "sliceable": false,
1168
+ "isSliced": false,
1169
+ "openable": false,
1170
+ "isOpen": false,
1171
+ "openness": 0.0,
1172
+ "pickupable": true,
1173
+ "isPickedUp": false,
1174
+ "moveable": false,
1175
+ "mass": 0.1599999964237213,
1176
+ "salientMaterials": [
1177
+ "Metal",
1178
+ "Glass"
1179
+ ],
1180
+ "receptacleObjectIds": null,
1181
+ "distance": 1.2536673545837402,
1182
+ "objectType": "CellPhone",
1183
+ "objectId": "CellPhone|-01.07|+00.80|-00.64",
1184
+ "assetId": "Cellphone_2",
1185
+ "parentReceptacles": [
1186
+ "Desk|-00.79|+00.00|-01.03"
1187
+ ],
1188
+ "controlledObjects": [],
1189
+ "isMoving": false,
1190
+ "axisAlignedBoundingBox": {
1191
+ "cornerPoints": [
1192
+ [
1193
+ -0.9966343641281128,
1194
+ 0.8024857640266418,
1195
+ -0.549640953540802
1196
+ ],
1197
+ [
1198
+ -0.9966343641281128,
1199
+ 0.8024857640266418,
1200
+ -0.7267826199531555
1201
+ ],
1202
+ [
1203
+ -0.9966343641281128,
1204
+ 0.7952550053596497,
1205
+ -0.549640953540802
1206
+ ],
1207
+ [
1208
+ -0.9966343641281128,
1209
+ 0.7952550053596497,
1210
+ -0.7267826199531555
1211
+ ],
1212
+ [
1213
+ -1.1512879133224487,
1214
+ 0.8024857640266418,
1215
+ -0.549640953540802
1216
+ ],
1217
+ [
1218
+ -1.1512879133224487,
1219
+ 0.8024857640266418,
1220
+ -0.7267826199531555
1221
+ ],
1222
+ [
1223
+ -1.1512879133224487,
1224
+ 0.7952550053596497,
1225
+ -0.549640953540802
1226
+ ],
1227
+ [
1228
+ -1.1512879133224487,
1229
+ 0.7952550053596497,
1230
+ -0.7267826199531555
1231
+ ]
1232
+ ],
1233
+ "center": {
1234
+ "x": -1.0739611387252808,
1235
+ "y": 0.7988703846931458,
1236
+ "z": -0.6382117867469788
1237
+ },
1238
+ "size": {
1239
+ "x": 0.15465354919433594,
1240
+ "y": 0.0072307586669921875,
1241
+ "z": 0.17714166641235352
1242
+ }
1243
+ },
1244
+ "objectOrientedBoundingBox": {
1245
+ "cornerPoints": [
1246
+ [
1247
+ -1.0614113807678223,
1248
+ 0.7952548861503601,
1249
+ -0.726734459400177
1250
+ ],
1251
+ [
1252
+ -0.996634304523468,
1253
+ 0.7963414788246155,
1254
+ -0.6831673979759216
1255
+ ],
1256
+ [
1257
+ -1.0864403247833252,
1258
+ 0.7963586449623108,
1259
+ -0.5496410131454468
1260
+ ],
1261
+ [
1262
+ -1.1512174606323242,
1263
+ 0.7952719926834106,
1264
+ -0.5932080745697021
1265
+ ],
1266
+ [
1267
+ -1.0614818334579468,
1268
+ 0.8013822436332703,
1269
+ -0.7267826199531555
1270
+ ],
1271
+ [
1272
+ -0.9967046976089478,
1273
+ 0.8024688363075256,
1274
+ -0.6832154989242554
1275
+ ],
1276
+ [
1277
+ -1.0865107774734497,
1278
+ 0.802486002445221,
1279
+ -0.5496891140937805
1280
+ ],
1281
+ [
1282
+ -1.1512877941131592,
1283
+ 0.8013994097709656,
1284
+ -0.5932562351226807
1285
+ ]
1286
+ ]
1287
+ }
1288
+ }
1289
+ }
1290
+ ],
1291
+ "Agent": {
1292
+ "agent_position": {
1293
+ "x": 1.0,
1294
+ "y": 0.9009991884231567,
1295
+ "z": 0.4000000059604645
1296
+ },
1297
+ "agent_rotation": {
1298
+ "x": -0.0,
1299
+ "y": 296.9999694824219,
1300
+ "z": 0.0
1301
+ },
1302
+ "agent_cameraHorizon": 0.0,
1303
+ "agent_isStanding": true,
1304
+ "agent_inHighFrictionArea": false
1305
+ },
1306
+ "camera_info": {
1307
+ "cameraPosition": {
1308
+ "x": 1.0,
1309
+ "y": 1.5759992599487305,
1310
+ "z": 0.4000000059604645
1311
+ },
1312
+ "cameraOrthSize": -1.0,
1313
+ "fov": 90.0
1314
+ },
1315
+ "common_object": [
1316
+ "Mirror|-01.38|+01.57|+00.51",
1317
+ "Desk|-00.79|+00.00|-01.03",
1318
+ "CellPhone|-01.07|+00.80|-00.64",
1319
+ "Shelf|-01.29|+01.45|-00.60",
1320
+ "Shelf|-01.29|+01.81|-00.60"
1321
+ ],
1322
+ "different_object": [
1323
+ "SideTable|+00.30|00.00|+01.23",
1324
+ "LightSwitch|+00.01|+01.32|+01.50",
1325
+ "DeskLamp|+00.47|+00.67|+01.35",
1326
+ "TennisRacket|-01.24|+00.32|-00.07",
1327
+ "Drawer|+00.30|+00.46|+01.16"
1328
+ ]
1329
+ }
train/FloorPlan302/0/0_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c464da6749ef4073738905b4005211dc4a83117b71b6025c3661e6b541729454
3
+ size 3145856
train/FloorPlan302/0/0_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:91c4872400c9f14ca5c6d86e53abe4855a69fe0de38be837840f05e873feff70
3
+ size 2359424
train/FloorPlan302/0/1.json ADDED
@@ -0,0 +1,2488 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "Chair|-00.68|+00.00|-01.33",
5
+ "object_info": {
6
+ "name": "Chair_6b9f1792",
7
+ "position": {
8
+ "x": -0.6830036044120789,
9
+ "y": 0.0005885958671569824,
10
+ "z": -1.32625150680542
11
+ },
12
+ "rotation": {
13
+ "x": 2.7809079256257974e-05,
14
+ "y": 217.22474670410156,
15
+ "z": 2.4427239623037167e-05
16
+ },
17
+ "visible": true,
18
+ "isInteractable": true,
19
+ "receptacle": true,
20
+ "toggleable": false,
21
+ "isToggled": false,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": false,
39
+ "isOpen": false,
40
+ "openness": 0.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": true,
44
+ "mass": 10.0,
45
+ "salientMaterials": [
46
+ "Metal",
47
+ "Plastic"
48
+ ],
49
+ "receptacleObjectIds": [
50
+ "Desk|-00.79|+00.00|-01.03"
51
+ ],
52
+ "distance": 1.7424626350402832,
53
+ "objectType": "Chair",
54
+ "objectId": "Chair|-00.68|+00.00|-01.33",
55
+ "assetId": "Chair_205_4",
56
+ "parentReceptacles": [
57
+ "Floor|+00.00|+00.00|+00.00"
58
+ ],
59
+ "controlledObjects": null,
60
+ "isMoving": false,
61
+ "axisAlignedBoundingBox": {
62
+ "cornerPoints": [
63
+ [
64
+ -0.403301477432251,
65
+ 0.8749538660049438,
66
+ -1.0160229206085205
67
+ ],
68
+ [
69
+ -0.403301477432251,
70
+ 0.8749538660049438,
71
+ -1.5961112976074219
72
+ ],
73
+ [
74
+ -0.403301477432251,
75
+ 1.1801719665527344e-05,
76
+ -1.0160229206085205
77
+ ],
78
+ [
79
+ -0.403301477432251,
80
+ 1.1801719665527344e-05,
81
+ -1.5961112976074219
82
+ ],
83
+ [
84
+ -0.963117241859436,
85
+ 0.8749538660049438,
86
+ -1.0160229206085205
87
+ ],
88
+ [
89
+ -0.963117241859436,
90
+ 0.8749538660049438,
91
+ -1.5961112976074219
92
+ ],
93
+ [
94
+ -0.963117241859436,
95
+ 1.1801719665527344e-05,
96
+ -1.0160229206085205
97
+ ],
98
+ [
99
+ -0.963117241859436,
100
+ 1.1801719665527344e-05,
101
+ -1.5961112976074219
102
+ ]
103
+ ],
104
+ "center": {
105
+ "x": -0.6832093596458435,
106
+ "y": 0.4374828338623047,
107
+ "z": -1.3060671091079712
108
+ },
109
+ "size": {
110
+ "x": 0.5598157644271851,
111
+ "y": 0.8749420642852783,
112
+ "z": 0.5800883769989014
113
+ }
114
+ },
115
+ "objectOrientedBoundingBox": {
116
+ "cornerPoints": [
117
+ [
118
+ -0.9798762798309326,
119
+ 2.038473030552268e-05,
120
+ -1.3621413707733154
121
+ ],
122
+ [
123
+ -0.6478661894798279,
124
+ 1.935620093718171e-05,
125
+ -1.6143730878829956
126
+ ],
127
+ [
128
+ -0.36476820707321167,
129
+ 2.269074320793152e-05,
130
+ -1.2417339086532593
131
+ ],
132
+ [
133
+ -0.6967782974243164,
134
+ 2.3719272576272488e-05,
135
+ -0.9895022511482239
136
+ ],
137
+ [
138
+ -0.979878306388855,
139
+ 0.8749674558639526,
140
+ -1.3621476888656616
141
+ ],
142
+ [
143
+ -0.647868275642395,
144
+ 0.8749664425849915,
145
+ -1.6143792867660522
146
+ ],
147
+ [
148
+ -0.3647702634334564,
149
+ 0.8749697804450989,
150
+ -1.2417402267456055
151
+ ],
152
+ [
153
+ -0.6967803239822388,
154
+ 0.8749707937240601,
155
+ -0.9895085096359253
156
+ ]
157
+ ]
158
+ }
159
+ }
160
+ },
161
+ {
162
+ "objectId": "Shelf|-01.29|+01.45|-01.34",
163
+ "object_info": {
164
+ "name": "Shelf_54cc751e",
165
+ "position": {
166
+ "x": -1.2868000268936157,
167
+ "y": 1.4511127471923828,
168
+ "z": -1.343999981880188
169
+ },
170
+ "rotation": {
171
+ "x": -0.0,
172
+ "y": 0.0,
173
+ "z": 0.0
174
+ },
175
+ "visible": false,
176
+ "isInteractable": false,
177
+ "receptacle": true,
178
+ "toggleable": false,
179
+ "isToggled": false,
180
+ "breakable": false,
181
+ "isBroken": false,
182
+ "canFillWithLiquid": false,
183
+ "isFilledWithLiquid": false,
184
+ "fillLiquid": null,
185
+ "dirtyable": false,
186
+ "isDirty": false,
187
+ "canBeUsedUp": false,
188
+ "isUsedUp": false,
189
+ "cookable": false,
190
+ "isCooked": false,
191
+ "temperature": "RoomTemp",
192
+ "isHeatSource": false,
193
+ "isColdSource": false,
194
+ "sliceable": false,
195
+ "isSliced": false,
196
+ "openable": false,
197
+ "isOpen": false,
198
+ "openness": 0.0,
199
+ "pickupable": false,
200
+ "isPickedUp": false,
201
+ "moveable": false,
202
+ "mass": 0.0,
203
+ "salientMaterials": null,
204
+ "receptacleObjectIds": [],
205
+ "distance": 1.9403132200241089,
206
+ "objectType": "Shelf",
207
+ "objectId": "Shelf|-01.29|+01.45|-01.34",
208
+ "assetId": "",
209
+ "parentReceptacles": null,
210
+ "controlledObjects": null,
211
+ "isMoving": false,
212
+ "axisAlignedBoundingBox": {
213
+ "cornerPoints": [
214
+ [
215
+ -1.1771008968353271,
216
+ 1.7803993225097656,
217
+ -0.9864070415496826
218
+ ],
219
+ [
220
+ -1.1771008968353271,
221
+ 1.7803993225097656,
222
+ -1.7022664546966553
223
+ ],
224
+ [
225
+ -1.1771008968353271,
226
+ 1.4527649879455566,
227
+ -0.9864070415496826
228
+ ],
229
+ [
230
+ -1.1771008968353271,
231
+ 1.4527649879455566,
232
+ -1.7022664546966553
233
+ ],
234
+ [
235
+ -1.3916823863983154,
236
+ 1.7803993225097656,
237
+ -0.9864070415496826
238
+ ],
239
+ [
240
+ -1.3916823863983154,
241
+ 1.7803993225097656,
242
+ -1.7022664546966553
243
+ ],
244
+ [
245
+ -1.3916823863983154,
246
+ 1.4527649879455566,
247
+ -0.9864070415496826
248
+ ],
249
+ [
250
+ -1.3916823863983154,
251
+ 1.4527649879455566,
252
+ -1.7022664546966553
253
+ ]
254
+ ],
255
+ "center": {
256
+ "x": -1.2843916416168213,
257
+ "y": 1.6165821552276611,
258
+ "z": -1.344336748123169
259
+ },
260
+ "size": {
261
+ "x": 0.21458148956298828,
262
+ "y": 0.327634334564209,
263
+ "z": 0.7158594131469727
264
+ }
265
+ },
266
+ "objectOrientedBoundingBox": null
267
+ }
268
+ },
269
+ {
270
+ "objectId": "Shelf|-01.29|+01.81|-01.34",
271
+ "object_info": {
272
+ "name": "Shelf_71819892",
273
+ "position": {
274
+ "x": -1.2868000268936157,
275
+ "y": 1.8143999576568604,
276
+ "z": -1.343999981880188
277
+ },
278
+ "rotation": {
279
+ "x": -0.0,
280
+ "y": 0.0,
281
+ "z": 0.0
282
+ },
283
+ "visible": false,
284
+ "isInteractable": false,
285
+ "receptacle": true,
286
+ "toggleable": false,
287
+ "isToggled": false,
288
+ "breakable": false,
289
+ "isBroken": false,
290
+ "canFillWithLiquid": false,
291
+ "isFilledWithLiquid": false,
292
+ "fillLiquid": null,
293
+ "dirtyable": false,
294
+ "isDirty": false,
295
+ "canBeUsedUp": false,
296
+ "isUsedUp": false,
297
+ "cookable": false,
298
+ "isCooked": false,
299
+ "temperature": "RoomTemp",
300
+ "isHeatSource": false,
301
+ "isColdSource": false,
302
+ "sliceable": false,
303
+ "isSliced": false,
304
+ "openable": false,
305
+ "isOpen": false,
306
+ "openness": 0.0,
307
+ "pickupable": false,
308
+ "isPickedUp": false,
309
+ "moveable": false,
310
+ "mass": 0.0,
311
+ "salientMaterials": null,
312
+ "receptacleObjectIds": [],
313
+ "distance": 2.072798013687134,
314
+ "objectType": "Shelf",
315
+ "objectId": "Shelf|-01.29|+01.81|-01.34",
316
+ "assetId": "",
317
+ "parentReceptacles": null,
318
+ "controlledObjects": null,
319
+ "isMoving": false,
320
+ "axisAlignedBoundingBox": {
321
+ "cornerPoints": [
322
+ [
323
+ -1.1771008968353271,
324
+ 2.14180064201355,
325
+ -0.9862945079803467
326
+ ],
327
+ [
328
+ -1.1771008968353271,
329
+ 2.14180064201355,
330
+ -1.7021536827087402
331
+ ],
332
+ [
333
+ -1.1771008968353271,
334
+ 1.8141663074493408,
335
+ -0.9862945079803467
336
+ ],
337
+ [
338
+ -1.1771008968353271,
339
+ 1.8141663074493408,
340
+ -1.7021536827087402
341
+ ],
342
+ [
343
+ -1.3916823863983154,
344
+ 2.14180064201355,
345
+ -0.9862945079803467
346
+ ],
347
+ [
348
+ -1.3916823863983154,
349
+ 2.14180064201355,
350
+ -1.7021536827087402
351
+ ],
352
+ [
353
+ -1.3916823863983154,
354
+ 1.8141663074493408,
355
+ -0.9862945079803467
356
+ ],
357
+ [
358
+ -1.3916823863983154,
359
+ 1.8141663074493408,
360
+ -1.7021536827087402
361
+ ]
362
+ ],
363
+ "center": {
364
+ "x": -1.2843916416168213,
365
+ "y": 1.9779834747314453,
366
+ "z": -1.3442240953445435
367
+ },
368
+ "size": {
369
+ "x": 0.21458148956298828,
370
+ "y": 0.327634334564209,
371
+ "z": 0.7158591747283936
372
+ }
373
+ },
374
+ "objectOrientedBoundingBox": null
375
+ }
376
+ },
377
+ {
378
+ "objectId": "Shelf|-01.29|+01.81|-00.60",
379
+ "object_info": {
380
+ "name": "Shelf_a7d9ee9f",
381
+ "position": {
382
+ "x": -1.2868000268936157,
383
+ "y": 1.8143999576568604,
384
+ "z": -0.6029999852180481
385
+ },
386
+ "rotation": {
387
+ "x": -0.0,
388
+ "y": 0.0,
389
+ "z": 0.0
390
+ },
391
+ "visible": true,
392
+ "isInteractable": true,
393
+ "receptacle": true,
394
+ "toggleable": false,
395
+ "isToggled": false,
396
+ "breakable": false,
397
+ "isBroken": false,
398
+ "canFillWithLiquid": false,
399
+ "isFilledWithLiquid": false,
400
+ "fillLiquid": null,
401
+ "dirtyable": false,
402
+ "isDirty": false,
403
+ "canBeUsedUp": false,
404
+ "isUsedUp": false,
405
+ "cookable": false,
406
+ "isCooked": false,
407
+ "temperature": "RoomTemp",
408
+ "isHeatSource": false,
409
+ "isColdSource": false,
410
+ "sliceable": false,
411
+ "isSliced": false,
412
+ "openable": false,
413
+ "isOpen": false,
414
+ "openness": 0.0,
415
+ "pickupable": false,
416
+ "isPickedUp": false,
417
+ "moveable": false,
418
+ "mass": 0.0,
419
+ "salientMaterials": null,
420
+ "receptacleObjectIds": [],
421
+ "distance": 1.689308762550354,
422
+ "objectType": "Shelf",
423
+ "objectId": "Shelf|-01.29|+01.81|-00.60",
424
+ "assetId": "",
425
+ "parentReceptacles": null,
426
+ "controlledObjects": null,
427
+ "isMoving": false,
428
+ "axisAlignedBoundingBox": {
429
+ "cornerPoints": [
430
+ [
431
+ -1.1771008968353271,
432
+ 2.141514301300049,
433
+ -0.24500679969787598
434
+ ],
435
+ [
436
+ -1.1771008968353271,
437
+ 2.141514301300049,
438
+ -0.9554154872894287
439
+ ],
440
+ [
441
+ -1.1771008968353271,
442
+ 1.8138823509216309,
443
+ -0.24500679969787598
444
+ ],
445
+ [
446
+ -1.1771008968353271,
447
+ 1.8138823509216309,
448
+ -0.9554154872894287
449
+ ],
450
+ [
451
+ -1.3916823863983154,
452
+ 2.141514301300049,
453
+ -0.24500679969787598
454
+ ],
455
+ [
456
+ -1.3916823863983154,
457
+ 2.141514301300049,
458
+ -0.9554154872894287
459
+ ],
460
+ [
461
+ -1.3916823863983154,
462
+ 1.8138823509216309,
463
+ -0.24500679969787598
464
+ ],
465
+ [
466
+ -1.3916823863983154,
467
+ 1.8138823509216309,
468
+ -0.9554154872894287
469
+ ]
470
+ ],
471
+ "center": {
472
+ "x": -1.2843916416168213,
473
+ "y": 1.9776983261108398,
474
+ "z": -0.6002111434936523
475
+ },
476
+ "size": {
477
+ "x": 0.21458148956298828,
478
+ "y": 0.32763195037841797,
479
+ "z": 0.7104086875915527
480
+ }
481
+ },
482
+ "objectOrientedBoundingBox": null
483
+ }
484
+ },
485
+ {
486
+ "objectId": "Blinds|-00.45|+02.16|-02.24",
487
+ "object_info": {
488
+ "name": "Blinds_ab6d45d0",
489
+ "position": {
490
+ "x": -0.453000009059906,
491
+ "y": 2.1568994522094727,
492
+ "z": -2.2425999641418457
493
+ },
494
+ "rotation": {
495
+ "x": -0.0,
496
+ "y": 0.0,
497
+ "z": 0.0
498
+ },
499
+ "visible": false,
500
+ "isInteractable": false,
501
+ "receptacle": false,
502
+ "toggleable": false,
503
+ "isToggled": false,
504
+ "breakable": false,
505
+ "isBroken": false,
506
+ "canFillWithLiquid": false,
507
+ "isFilledWithLiquid": false,
508
+ "fillLiquid": null,
509
+ "dirtyable": false,
510
+ "isDirty": false,
511
+ "canBeUsedUp": false,
512
+ "isUsedUp": false,
513
+ "cookable": false,
514
+ "isCooked": false,
515
+ "temperature": "RoomTemp",
516
+ "isHeatSource": false,
517
+ "isColdSource": false,
518
+ "sliceable": false,
519
+ "isSliced": false,
520
+ "openable": true,
521
+ "isOpen": false,
522
+ "openness": 0.0,
523
+ "pickupable": false,
524
+ "isPickedUp": false,
525
+ "moveable": false,
526
+ "mass": 0.0,
527
+ "salientMaterials": null,
528
+ "receptacleObjectIds": null,
529
+ "distance": 2.6099326610565186,
530
+ "objectType": "Blinds",
531
+ "objectId": "Blinds|-00.45|+02.16|-02.24",
532
+ "assetId": "Blinds_1",
533
+ "parentReceptacles": null,
534
+ "controlledObjects": null,
535
+ "isMoving": false,
536
+ "axisAlignedBoundingBox": {
537
+ "cornerPoints": [
538
+ [
539
+ 0.09874725341796875,
540
+ 2.096540927886963,
541
+ -2.2273881435394287
542
+ ],
543
+ [
544
+ 0.09874725341796875,
545
+ 2.096540927886963,
546
+ -2.257054567337036
547
+ ],
548
+ [
549
+ 0.09874725341796875,
550
+ 1.9008338451385498,
551
+ -2.2273881435394287
552
+ ],
553
+ [
554
+ 0.09874725341796875,
555
+ 1.9008338451385498,
556
+ -2.257054567337036
557
+ ],
558
+ [
559
+ -1.0047473907470703,
560
+ 2.096540927886963,
561
+ -2.2273881435394287
562
+ ],
563
+ [
564
+ -1.0047473907470703,
565
+ 2.096540927886963,
566
+ -2.257054567337036
567
+ ],
568
+ [
569
+ -1.0047473907470703,
570
+ 1.9008338451385498,
571
+ -2.2273881435394287
572
+ ],
573
+ [
574
+ -1.0047473907470703,
575
+ 1.9008338451385498,
576
+ -2.257054567337036
577
+ ]
578
+ ],
579
+ "center": {
580
+ "x": -0.4530000686645508,
581
+ "y": 1.9986873865127563,
582
+ "z": -2.2422213554382324
583
+ },
584
+ "size": {
585
+ "x": 1.103494644165039,
586
+ "y": 0.19570708274841309,
587
+ "z": 0.029666423797607422
588
+ }
589
+ },
590
+ "objectOrientedBoundingBox": null
591
+ }
592
+ },
593
+ {
594
+ "objectId": "Pen|-01.13|+00.80|-01.24",
595
+ "object_info": {
596
+ "name": "Pen_b5abb21c",
597
+ "position": {
598
+ "x": -1.1323306560516357,
599
+ "y": 0.7960861921310425,
600
+ "z": -1.2358907461166382
601
+ },
602
+ "rotation": {
603
+ "x": 0.7949433922767639,
604
+ "y": 230.83401489257812,
605
+ "z": 227.70957946777344
606
+ },
607
+ "visible": false,
608
+ "isInteractable": false,
609
+ "receptacle": false,
610
+ "toggleable": false,
611
+ "isToggled": false,
612
+ "breakable": false,
613
+ "isBroken": false,
614
+ "canFillWithLiquid": false,
615
+ "isFilledWithLiquid": false,
616
+ "fillLiquid": null,
617
+ "dirtyable": false,
618
+ "isDirty": false,
619
+ "canBeUsedUp": false,
620
+ "isUsedUp": false,
621
+ "cookable": false,
622
+ "isCooked": false,
623
+ "temperature": "RoomTemp",
624
+ "isHeatSource": false,
625
+ "isColdSource": false,
626
+ "sliceable": false,
627
+ "isSliced": false,
628
+ "openable": false,
629
+ "isOpen": false,
630
+ "openness": 0.0,
631
+ "pickupable": true,
632
+ "isPickedUp": false,
633
+ "moveable": false,
634
+ "mass": 0.005999999586492777,
635
+ "salientMaterials": [
636
+ "Plastic",
637
+ "Metal"
638
+ ],
639
+ "receptacleObjectIds": null,
640
+ "distance": 1.6794657707214355,
641
+ "objectType": "Pen",
642
+ "objectId": "Pen|-01.13|+00.80|-01.24",
643
+ "assetId": "Pen_2",
644
+ "parentReceptacles": [
645
+ "Desk|-00.79|+00.00|-01.03"
646
+ ],
647
+ "controlledObjects": null,
648
+ "isMoving": false,
649
+ "axisAlignedBoundingBox": {
650
+ "cornerPoints": [
651
+ [
652
+ -1.0586239099502563,
653
+ 0.8029492497444153,
654
+ -1.1748030185699463
655
+ ],
656
+ [
657
+ -1.0586239099502563,
658
+ 0.8029492497444153,
659
+ -1.3051629066467285
660
+ ],
661
+ [
662
+ -1.0586239099502563,
663
+ 0.7890432476997375,
664
+ -1.1748030185699463
665
+ ],
666
+ [
667
+ -1.0586239099502563,
668
+ 0.7890432476997375,
669
+ -1.3051629066467285
670
+ ],
671
+ [
672
+ -1.216084361076355,
673
+ 0.8029492497444153,
674
+ -1.1748030185699463
675
+ ],
676
+ [
677
+ -1.216084361076355,
678
+ 0.8029492497444153,
679
+ -1.3051629066467285
680
+ ],
681
+ [
682
+ -1.216084361076355,
683
+ 0.7890432476997375,
684
+ -1.1748030185699463
685
+ ],
686
+ [
687
+ -1.216084361076355,
688
+ 0.7890432476997375,
689
+ -1.3051629066467285
690
+ ]
691
+ ],
692
+ "center": {
693
+ "x": -1.1373541355133057,
694
+ "y": 0.7959962487220764,
695
+ "z": -1.2399829626083374
696
+ },
697
+ "size": {
698
+ "x": 0.15746045112609863,
699
+ "y": 0.013906002044677734,
700
+ "z": 0.13035988807678223
701
+ }
702
+ },
703
+ "objectOrientedBoundingBox": {
704
+ "cornerPoints": [
705
+ [
706
+ -1.2097755670547485,
707
+ 0.7942324876785278,
708
+ -1.3092619180679321
709
+ ],
710
+ [
711
+ -1.2146635055541992,
712
+ 0.8025835156440735,
713
+ -1.3034449815750122
714
+ ],
715
+ [
716
+ -1.0597400665283203,
717
+ 0.8053560853004456,
718
+ -1.1772456169128418
719
+ ],
720
+ [
721
+ -1.0548522472381592,
722
+ 0.7970049977302551,
723
+ -1.1830625534057617
724
+ ],
725
+ [
726
+ -1.2149684429168701,
727
+ 0.786636471748352,
728
+ -1.302720308303833
729
+ ],
730
+ [
731
+ -1.2198562622070312,
732
+ 0.7949875593185425,
733
+ -1.296903371810913
734
+ ],
735
+ [
736
+ -1.064932942390442,
737
+ 0.7977600693702698,
738
+ -1.1707038879394531
739
+ ],
740
+ [
741
+ -1.0600450038909912,
742
+ 0.7894090414047241,
743
+ -1.1765209436416626
744
+ ]
745
+ ]
746
+ }
747
+ }
748
+ },
749
+ {
750
+ "objectId": "SideTable|+00.41|+00.00|-01.68",
751
+ "object_info": {
752
+ "name": "SideTable_b3df7cc1",
753
+ "position": {
754
+ "x": 0.4139997363090515,
755
+ "y": 0.0009540915489196777,
756
+ "z": -1.6840178966522217
757
+ },
758
+ "rotation": {
759
+ "x": 0.010742965154349804,
760
+ "y": -1.5971951143001206e-05,
761
+ "z": -0.0004054561140947044
762
+ },
763
+ "visible": false,
764
+ "isInteractable": false,
765
+ "receptacle": true,
766
+ "toggleable": false,
767
+ "isToggled": false,
768
+ "breakable": false,
769
+ "isBroken": false,
770
+ "canFillWithLiquid": false,
771
+ "isFilledWithLiquid": false,
772
+ "fillLiquid": null,
773
+ "dirtyable": false,
774
+ "isDirty": false,
775
+ "canBeUsedUp": false,
776
+ "isUsedUp": false,
777
+ "cookable": false,
778
+ "isCooked": false,
779
+ "temperature": "RoomTemp",
780
+ "isHeatSource": false,
781
+ "isColdSource": false,
782
+ "sliceable": false,
783
+ "isSliced": false,
784
+ "openable": false,
785
+ "isOpen": false,
786
+ "openness": 0.0,
787
+ "pickupable": false,
788
+ "isPickedUp": false,
789
+ "moveable": true,
790
+ "mass": 11.0,
791
+ "salientMaterials": [
792
+ "Metal"
793
+ ],
794
+ "receptacleObjectIds": [
795
+ "AlarmClock|+00.45|+00.67|-01.74"
796
+ ],
797
+ "distance": 1.9538151025772095,
798
+ "objectType": "SideTable",
799
+ "objectId": "SideTable|+00.41|+00.00|-01.68",
800
+ "assetId": "Side_Table_302_2_1",
801
+ "parentReceptacles": [
802
+ "Floor|+00.00|+00.00|+00.00"
803
+ ],
804
+ "controlledObjects": null,
805
+ "isMoving": false,
806
+ "axisAlignedBoundingBox": {
807
+ "cornerPoints": [
808
+ [
809
+ 0.5986350178718567,
810
+ 0.6704425811767578,
811
+ -1.486060619354248
812
+ ],
813
+ [
814
+ 0.5986350178718567,
815
+ 0.6704425811767578,
816
+ -1.881943941116333
817
+ ],
818
+ [
819
+ 0.5986350178718567,
820
+ -5.0067901611328125e-06,
821
+ -1.486060619354248
822
+ ],
823
+ [
824
+ 0.5986350178718567,
825
+ -5.0067901611328125e-06,
826
+ -1.881943941116333
827
+ ],
828
+ [
829
+ 0.22936761379241943,
830
+ 0.6704425811767578,
831
+ -1.486060619354248
832
+ ],
833
+ [
834
+ 0.22936761379241943,
835
+ 0.6704425811767578,
836
+ -1.881943941116333
837
+ ],
838
+ [
839
+ 0.22936761379241943,
840
+ -5.0067901611328125e-06,
841
+ -1.486060619354248
842
+ ],
843
+ [
844
+ 0.22936761379241943,
845
+ -5.0067901611328125e-06,
846
+ -1.881943941116333
847
+ ]
848
+ ],
849
+ "center": {
850
+ "x": 0.41400131583213806,
851
+ "y": 0.33521878719329834,
852
+ "z": -1.6840022802352905
853
+ },
854
+ "size": {
855
+ "x": 0.36926740407943726,
856
+ "y": 0.670447587966919,
857
+ "z": 0.39588332176208496
858
+ }
859
+ },
860
+ "objectOrientedBoundingBox": {
861
+ "cornerPoints": [
862
+ [
863
+ 0.5986311435699463,
864
+ -6.315927021205425e-05,
865
+ -1.4861760139465332
866
+ ],
867
+ [
868
+ 0.2293674349784851,
869
+ -6.108288653194904e-05,
870
+ -1.4861762523651123
871
+ ],
872
+ [
873
+ 0.2293677181005478,
874
+ 7.264665327966213e-06,
875
+ -1.8819440603256226
876
+ ],
877
+ [
878
+ 0.5986313819885254,
879
+ 5.188281647861004e-06,
880
+ -1.8819438219070435
881
+ ],
882
+ [
883
+ 0.5986348986625671,
884
+ 0.6703720092773438,
885
+ -1.4860601425170898
886
+ ],
887
+ [
888
+ 0.22937120497226715,
889
+ 0.6703740358352661,
890
+ -1.4860605001449585
891
+ ],
892
+ [
893
+ 0.22937148809432983,
894
+ 0.6704423427581787,
895
+ -1.8818283081054688
896
+ ],
897
+ [
898
+ 0.598635196685791,
899
+ 0.6704403162002563,
900
+ -1.8818280696868896
901
+ ]
902
+ ]
903
+ }
904
+ }
905
+ },
906
+ {
907
+ "objectId": "HousePlant|-00.08|+00.83|-02.05",
908
+ "object_info": {
909
+ "name": "HousePlant_a3597e1a",
910
+ "position": {
911
+ "x": -0.08358632773160934,
912
+ "y": 0.8289586901664734,
913
+ "z": -2.0459365844726562
914
+ },
915
+ "rotation": {
916
+ "x": -0.003538811346516013,
917
+ "y": 0.02216091938316822,
918
+ "z": 359.9719543457031
919
+ },
920
+ "visible": false,
921
+ "isInteractable": false,
922
+ "receptacle": false,
923
+ "toggleable": false,
924
+ "isToggled": false,
925
+ "breakable": false,
926
+ "isBroken": false,
927
+ "canFillWithLiquid": true,
928
+ "isFilledWithLiquid": false,
929
+ "fillLiquid": null,
930
+ "dirtyable": false,
931
+ "isDirty": false,
932
+ "canBeUsedUp": false,
933
+ "isUsedUp": false,
934
+ "cookable": false,
935
+ "isCooked": false,
936
+ "temperature": "RoomTemp",
937
+ "isHeatSource": false,
938
+ "isColdSource": false,
939
+ "sliceable": false,
940
+ "isSliced": false,
941
+ "openable": false,
942
+ "isOpen": false,
943
+ "openness": 0.0,
944
+ "pickupable": false,
945
+ "isPickedUp": false,
946
+ "moveable": true,
947
+ "mass": 3.0,
948
+ "salientMaterials": [
949
+ "Ceramic",
950
+ "Organic"
951
+ ],
952
+ "receptacleObjectIds": null,
953
+ "distance": 2.048910140991211,
954
+ "objectType": "HousePlant",
955
+ "objectId": "HousePlant|-00.08|+00.83|-02.05",
956
+ "assetId": "Houseplant_2",
957
+ "parentReceptacles": [
958
+ "Shelf|-00.47|+00.83|-02.04"
959
+ ],
960
+ "controlledObjects": null,
961
+ "isMoving": false,
962
+ "axisAlignedBoundingBox": {
963
+ "cornerPoints": [
964
+ [
965
+ 0.007115155458450317,
966
+ 1.5229504108428955,
967
+ -1.9074654579162598
968
+ ],
969
+ [
970
+ 0.007115155458450317,
971
+ 1.5229504108428955,
972
+ -2.1835713386535645
973
+ ],
974
+ [
975
+ 0.007115155458450317,
976
+ 0.824995219707489,
977
+ -1.9074654579162598
978
+ ],
979
+ [
980
+ 0.007115155458450317,
981
+ 0.824995219707489,
982
+ -2.1835713386535645
983
+ ],
984
+ [
985
+ -0.22948428988456726,
986
+ 1.5229504108428955,
987
+ -1.9074654579162598
988
+ ],
989
+ [
990
+ -0.22948428988456726,
991
+ 1.5229504108428955,
992
+ -2.1835713386535645
993
+ ],
994
+ [
995
+ -0.22948428988456726,
996
+ 0.824995219707489,
997
+ -1.9074654579162598
998
+ ],
999
+ [
1000
+ -0.22948428988456726,
1001
+ 0.824995219707489,
1002
+ -2.1835713386535645
1003
+ ]
1004
+ ],
1005
+ "center": {
1006
+ "x": -0.11118456721305847,
1007
+ "y": 1.1739728450775146,
1008
+ "z": -2.045518398284912
1009
+ },
1010
+ "size": {
1011
+ "x": 0.23659944534301758,
1012
+ "y": 0.6979552507400513,
1013
+ "z": 0.2761058807373047
1014
+ }
1015
+ },
1016
+ "objectOrientedBoundingBox": {
1017
+ "cornerPoints": [
1018
+ [
1019
+ 0.00712362676858902,
1020
+ 0.8250094652175903,
1021
+ -1.9074259996414185
1022
+ ],
1023
+ [
1024
+ -0.22947636246681213,
1025
+ 0.8250132203102112,
1026
+ -1.907407283782959
1027
+ ],
1028
+ [
1029
+ -0.2294982224702835,
1030
+ 0.8249894976615906,
1031
+ -2.183507204055786
1032
+ ],
1033
+ [
1034
+ 0.007101766765117645,
1035
+ 0.824985682964325,
1036
+ -2.183526039123535
1037
+ ],
1038
+ [
1039
+ 0.007134854793548584,
1040
+ 1.5229583978652954,
1041
+ -1.907486081123352
1042
+ ],
1043
+ [
1044
+ -0.22946514189243317,
1045
+ 1.5229620933532715,
1046
+ -1.9074673652648926
1047
+ ],
1048
+ [
1049
+ -0.22948700189590454,
1050
+ 1.5229383707046509,
1051
+ -2.1835672855377197
1052
+ ],
1053
+ [
1054
+ 0.0071129947900772095,
1055
+ 1.5229346752166748,
1056
+ -2.1835861206054688
1057
+ ]
1058
+ ]
1059
+ }
1060
+ }
1061
+ },
1062
+ {
1063
+ "objectId": "Desk|-00.79|+00.00|-01.03",
1064
+ "object_info": {
1065
+ "name": "Desk_01ca18b8",
1066
+ "position": {
1067
+ "x": -0.7880603075027466,
1068
+ "y": 0.0004979968070983887,
1069
+ "z": -1.0329155921936035
1070
+ },
1071
+ "rotation": {
1072
+ "x": 359.33953857421875,
1073
+ "y": 89.71826171875,
1074
+ "z": 359.55328369140625
1075
+ },
1076
+ "visible": true,
1077
+ "isInteractable": true,
1078
+ "receptacle": true,
1079
+ "toggleable": false,
1080
+ "isToggled": false,
1081
+ "breakable": false,
1082
+ "isBroken": false,
1083
+ "canFillWithLiquid": false,
1084
+ "isFilledWithLiquid": false,
1085
+ "fillLiquid": null,
1086
+ "dirtyable": false,
1087
+ "isDirty": false,
1088
+ "canBeUsedUp": false,
1089
+ "isUsedUp": false,
1090
+ "cookable": false,
1091
+ "isCooked": false,
1092
+ "temperature": "RoomTemp",
1093
+ "isHeatSource": false,
1094
+ "isColdSource": false,
1095
+ "sliceable": false,
1096
+ "isSliced": false,
1097
+ "openable": false,
1098
+ "isOpen": false,
1099
+ "openness": 0.0,
1100
+ "pickupable": false,
1101
+ "isPickedUp": false,
1102
+ "moveable": false,
1103
+ "mass": 34.0,
1104
+ "salientMaterials": [
1105
+ "Wood"
1106
+ ],
1107
+ "receptacleObjectIds": [
1108
+ "CD|-01.30|+00.80|-00.31",
1109
+ "CellPhone|-01.07|+00.80|-00.64",
1110
+ "Pen|-01.13|+00.80|-01.24",
1111
+ "Pencil|-01.16|+00.80|-01.18",
1112
+ "Laptop|-01.04|+00.79|-01.51",
1113
+ "Book|-00.69|+00.79|-01.72",
1114
+ "CreditCard|-00.39|+00.80|-01.70",
1115
+ "KeyChain|-00.55|+00.80|-01.52"
1116
+ ],
1117
+ "distance": 1.5807770490646362,
1118
+ "objectType": "Desk",
1119
+ "objectId": "Desk|-00.79|+00.00|-01.03",
1120
+ "assetId": "Desk_302_1",
1121
+ "parentReceptacles": [
1122
+ "Chair|-00.68|+00.00|-01.33",
1123
+ "Floor|+00.00|+00.00|+00.00"
1124
+ ],
1125
+ "controlledObjects": null,
1126
+ "isMoving": false,
1127
+ "axisAlignedBoundingBox": {
1128
+ "cornerPoints": [
1129
+ [
1130
+ -0.1982954740524292,
1131
+ 0.8021975755691528,
1132
+ -0.16861772537231445
1133
+ ],
1134
+ [
1135
+ -0.1982954740524292,
1136
+ 0.8021975755691528,
1137
+ -1.9000144004821777
1138
+ ],
1139
+ [
1140
+ -0.1982954740524292,
1141
+ -2.193450927734375e-05,
1142
+ -0.16861772537231445
1143
+ ],
1144
+ [
1145
+ -0.1982954740524292,
1146
+ -2.193450927734375e-05,
1147
+ -1.9000144004821777
1148
+ ],
1149
+ [
1150
+ -1.397121787071228,
1151
+ 0.8021975755691528,
1152
+ -0.16861772537231445
1153
+ ],
1154
+ [
1155
+ -1.397121787071228,
1156
+ 0.8021975755691528,
1157
+ -1.9000144004821777
1158
+ ],
1159
+ [
1160
+ -1.397121787071228,
1161
+ -2.193450927734375e-05,
1162
+ -0.16861772537231445
1163
+ ],
1164
+ [
1165
+ -1.397121787071228,
1166
+ -2.193450927734375e-05,
1167
+ -1.9000144004821777
1168
+ ]
1169
+ ],
1170
+ "center": {
1171
+ "x": -0.7977086305618286,
1172
+ "y": 0.40108782052993774,
1173
+ "z": -1.034316062927246
1174
+ },
1175
+ "size": {
1176
+ "x": 1.1988263130187988,
1177
+ "y": 0.8022195100784302,
1178
+ "z": 1.7313966751098633
1179
+ }
1180
+ },
1181
+ "objectOrientedBoundingBox": null
1182
+ }
1183
+ },
1184
+ {
1185
+ "objectId": "Mirror|-01.38|+01.57|+00.51",
1186
+ "object_info": {
1187
+ "name": "Mirror_db756642",
1188
+ "position": {
1189
+ "x": -1.3839999437332153,
1190
+ "y": 1.565000057220459,
1191
+ "z": 0.5120000243186951
1192
+ },
1193
+ "rotation": {
1194
+ "x": -0.0,
1195
+ "y": 270.0,
1196
+ "z": 0.0
1197
+ },
1198
+ "visible": false,
1199
+ "isInteractable": false,
1200
+ "receptacle": false,
1201
+ "toggleable": false,
1202
+ "isToggled": false,
1203
+ "breakable": true,
1204
+ "isBroken": false,
1205
+ "canFillWithLiquid": false,
1206
+ "isFilledWithLiquid": false,
1207
+ "fillLiquid": null,
1208
+ "dirtyable": true,
1209
+ "isDirty": false,
1210
+ "canBeUsedUp": false,
1211
+ "isUsedUp": false,
1212
+ "cookable": false,
1213
+ "isCooked": false,
1214
+ "temperature": "RoomTemp",
1215
+ "isHeatSource": false,
1216
+ "isColdSource": false,
1217
+ "sliceable": false,
1218
+ "isSliced": false,
1219
+ "openable": false,
1220
+ "isOpen": false,
1221
+ "openness": 0.0,
1222
+ "pickupable": false,
1223
+ "isPickedUp": false,
1224
+ "moveable": false,
1225
+ "mass": 0.0,
1226
+ "salientMaterials": null,
1227
+ "receptacleObjectIds": null,
1228
+ "distance": 1.618177056312561,
1229
+ "objectType": "Mirror",
1230
+ "objectId": "Mirror|-01.38|+01.57|+00.51",
1231
+ "assetId": "",
1232
+ "parentReceptacles": null,
1233
+ "controlledObjects": null,
1234
+ "isMoving": false,
1235
+ "axisAlignedBoundingBox": {
1236
+ "cornerPoints": [
1237
+ [
1238
+ -1.33620023727417,
1239
+ 1.847362995147705,
1240
+ 0.7824673652648926
1241
+ ],
1242
+ [
1243
+ -1.33620023727417,
1244
+ 1.847362995147705,
1245
+ 0.22343194484710693
1246
+ ],
1247
+ [
1248
+ -1.33620023727417,
1249
+ 1.1790292263031006,
1250
+ 0.7824673652648926
1251
+ ],
1252
+ [
1253
+ -1.33620023727417,
1254
+ 1.1790292263031006,
1255
+ 0.22343194484710693
1256
+ ],
1257
+ [
1258
+ -1.386000156402588,
1259
+ 1.847362995147705,
1260
+ 0.7824673652648926
1261
+ ],
1262
+ [
1263
+ -1.386000156402588,
1264
+ 1.847362995147705,
1265
+ 0.22343194484710693
1266
+ ],
1267
+ [
1268
+ -1.386000156402588,
1269
+ 1.1790292263031006,
1270
+ 0.7824673652648926
1271
+ ],
1272
+ [
1273
+ -1.386000156402588,
1274
+ 1.1790292263031006,
1275
+ 0.22343194484710693
1276
+ ]
1277
+ ],
1278
+ "center": {
1279
+ "x": -1.361100196838379,
1280
+ "y": 1.5131961107254028,
1281
+ "z": 0.5029496550559998
1282
+ },
1283
+ "size": {
1284
+ "x": 0.04979991912841797,
1285
+ "y": 0.6683337688446045,
1286
+ "z": 0.5590354204177856
1287
+ }
1288
+ },
1289
+ "objectOrientedBoundingBox": null
1290
+ }
1291
+ },
1292
+ {
1293
+ "objectId": "Window|-00.47|+01.40|-02.25",
1294
+ "object_info": {
1295
+ "name": "Window_42951f57",
1296
+ "position": {
1297
+ "x": -0.4729999899864197,
1298
+ "y": 1.3960000276565552,
1299
+ "z": -2.252000093460083
1300
+ },
1301
+ "rotation": {
1302
+ "x": 90.0,
1303
+ "y": 6.27857371000573e-05,
1304
+ "z": 0.0
1305
+ },
1306
+ "visible": false,
1307
+ "isInteractable": false,
1308
+ "receptacle": false,
1309
+ "toggleable": false,
1310
+ "isToggled": false,
1311
+ "breakable": true,
1312
+ "isBroken": false,
1313
+ "canFillWithLiquid": false,
1314
+ "isFilledWithLiquid": false,
1315
+ "fillLiquid": null,
1316
+ "dirtyable": false,
1317
+ "isDirty": false,
1318
+ "canBeUsedUp": false,
1319
+ "isUsedUp": false,
1320
+ "cookable": false,
1321
+ "isCooked": false,
1322
+ "temperature": "RoomTemp",
1323
+ "isHeatSource": false,
1324
+ "isColdSource": false,
1325
+ "sliceable": false,
1326
+ "isSliced": false,
1327
+ "openable": false,
1328
+ "isOpen": false,
1329
+ "openness": 0.0,
1330
+ "pickupable": false,
1331
+ "isPickedUp": false,
1332
+ "moveable": false,
1333
+ "mass": 0.0,
1334
+ "salientMaterials": null,
1335
+ "receptacleObjectIds": null,
1336
+ "distance": 2.3537755012512207,
1337
+ "objectType": "Window",
1338
+ "objectId": "Window|-00.47|+01.40|-02.25",
1339
+ "assetId": "",
1340
+ "parentReceptacles": null,
1341
+ "controlledObjects": null,
1342
+ "isMoving": false,
1343
+ "axisAlignedBoundingBox": {
1344
+ "cornerPoints": [
1345
+ [
1346
+ 0.10000026226043701,
1347
+ 2.175002336502075,
1348
+ -2.2697997093200684
1349
+ ],
1350
+ [
1351
+ 0.10000026226043701,
1352
+ 2.175002336502075,
1353
+ -2.3499999046325684
1354
+ ],
1355
+ [
1356
+ 0.10000026226043701,
1357
+ 0.8250002861022949,
1358
+ -2.2697997093200684
1359
+ ],
1360
+ [
1361
+ 0.10000026226043701,
1362
+ 0.8250002861022949,
1363
+ -2.3499999046325684
1364
+ ],
1365
+ [
1366
+ -1.000000238418579,
1367
+ 2.175002336502075,
1368
+ -2.2697997093200684
1369
+ ],
1370
+ [
1371
+ -1.000000238418579,
1372
+ 2.175002336502075,
1373
+ -2.3499999046325684
1374
+ ],
1375
+ [
1376
+ -1.000000238418579,
1377
+ 0.8250002861022949,
1378
+ -2.2697997093200684
1379
+ ],
1380
+ [
1381
+ -1.000000238418579,
1382
+ 0.8250002861022949,
1383
+ -2.3499999046325684
1384
+ ]
1385
+ ],
1386
+ "center": {
1387
+ "x": -0.44999998807907104,
1388
+ "y": 1.500001311302185,
1389
+ "z": -2.3098998069763184
1390
+ },
1391
+ "size": {
1392
+ "x": 1.1000005006790161,
1393
+ "y": 1.3500020503997803,
1394
+ "z": 0.0802001953125
1395
+ }
1396
+ },
1397
+ "objectOrientedBoundingBox": null
1398
+ }
1399
+ },
1400
+ {
1401
+ "objectId": "Shelf|-01.29|+01.45|-00.60",
1402
+ "object_info": {
1403
+ "name": "Shelf_2f16b4c5",
1404
+ "position": {
1405
+ "x": -1.2868000268936157,
1406
+ "y": 1.4511127471923828,
1407
+ "z": -0.6029999852180481
1408
+ },
1409
+ "rotation": {
1410
+ "x": -0.0,
1411
+ "y": 0.0,
1412
+ "z": 0.0
1413
+ },
1414
+ "visible": true,
1415
+ "isInteractable": true,
1416
+ "receptacle": true,
1417
+ "toggleable": false,
1418
+ "isToggled": false,
1419
+ "breakable": false,
1420
+ "isBroken": false,
1421
+ "canFillWithLiquid": false,
1422
+ "isFilledWithLiquid": false,
1423
+ "fillLiquid": null,
1424
+ "dirtyable": false,
1425
+ "isDirty": false,
1426
+ "canBeUsedUp": false,
1427
+ "isUsedUp": false,
1428
+ "cookable": false,
1429
+ "isCooked": false,
1430
+ "temperature": "RoomTemp",
1431
+ "isHeatSource": false,
1432
+ "isColdSource": false,
1433
+ "sliceable": false,
1434
+ "isSliced": false,
1435
+ "openable": false,
1436
+ "isOpen": false,
1437
+ "openness": 0.0,
1438
+ "pickupable": false,
1439
+ "isPickedUp": false,
1440
+ "moveable": false,
1441
+ "mass": 0.0,
1442
+ "salientMaterials": null,
1443
+ "receptacleObjectIds": [],
1444
+ "distance": 1.5238399505615234,
1445
+ "objectType": "Shelf",
1446
+ "objectId": "Shelf|-01.29|+01.45|-00.60",
1447
+ "assetId": "",
1448
+ "parentReceptacles": null,
1449
+ "controlledObjects": null,
1450
+ "isMoving": false,
1451
+ "axisAlignedBoundingBox": {
1452
+ "cornerPoints": [
1453
+ [
1454
+ -1.1771008968353271,
1455
+ 1.7801129817962646,
1456
+ -0.2451193928718567
1457
+ ],
1458
+ [
1459
+ -1.1771008968353271,
1460
+ 1.7801129817962646,
1461
+ -0.9555280804634094
1462
+ ],
1463
+ [
1464
+ -1.1771008968353271,
1465
+ 1.4524810314178467,
1466
+ -0.2451193928718567
1467
+ ],
1468
+ [
1469
+ -1.1771008968353271,
1470
+ 1.4524810314178467,
1471
+ -0.9555280804634094
1472
+ ],
1473
+ [
1474
+ -1.3916823863983154,
1475
+ 1.7801129817962646,
1476
+ -0.2451193928718567
1477
+ ],
1478
+ [
1479
+ -1.3916823863983154,
1480
+ 1.7801129817962646,
1481
+ -0.9555280804634094
1482
+ ],
1483
+ [
1484
+ -1.3916823863983154,
1485
+ 1.4524810314178467,
1486
+ -0.2451193928718567
1487
+ ],
1488
+ [
1489
+ -1.3916823863983154,
1490
+ 1.4524810314178467,
1491
+ -0.9555280804634094
1492
+ ]
1493
+ ],
1494
+ "center": {
1495
+ "x": -1.2843916416168213,
1496
+ "y": 1.6162970066070557,
1497
+ "z": -0.6003237366676331
1498
+ },
1499
+ "size": {
1500
+ "x": 0.21458148956298828,
1501
+ "y": 0.32763195037841797,
1502
+ "z": 0.7104086875915527
1503
+ }
1504
+ },
1505
+ "objectOrientedBoundingBox": null
1506
+ }
1507
+ },
1508
+ {
1509
+ "objectId": "Book|-00.69|+00.79|-01.72",
1510
+ "object_info": {
1511
+ "name": "Book_7afd3ae1",
1512
+ "position": {
1513
+ "x": -0.6852008104324341,
1514
+ "y": 0.7917478680610657,
1515
+ "z": -1.7198729515075684
1516
+ },
1517
+ "rotation": {
1518
+ "x": 359.8325500488281,
1519
+ "y": 133.48992919921875,
1520
+ "z": 359.28741455078125
1521
+ },
1522
+ "visible": false,
1523
+ "isInteractable": false,
1524
+ "receptacle": false,
1525
+ "toggleable": false,
1526
+ "isToggled": false,
1527
+ "breakable": false,
1528
+ "isBroken": false,
1529
+ "canFillWithLiquid": false,
1530
+ "isFilledWithLiquid": false,
1531
+ "fillLiquid": null,
1532
+ "dirtyable": false,
1533
+ "isDirty": false,
1534
+ "canBeUsedUp": false,
1535
+ "isUsedUp": false,
1536
+ "cookable": false,
1537
+ "isCooked": false,
1538
+ "temperature": "RoomTemp",
1539
+ "isHeatSource": false,
1540
+ "isColdSource": false,
1541
+ "sliceable": false,
1542
+ "isSliced": false,
1543
+ "openable": true,
1544
+ "isOpen": false,
1545
+ "openness": 0.0,
1546
+ "pickupable": true,
1547
+ "isPickedUp": false,
1548
+ "moveable": false,
1549
+ "mass": 0.5,
1550
+ "salientMaterials": [
1551
+ "Paper"
1552
+ ],
1553
+ "receptacleObjectIds": null,
1554
+ "distance": 1.854561686515808,
1555
+ "objectType": "Book",
1556
+ "objectId": "Book|-00.69|+00.79|-01.72",
1557
+ "assetId": "Book_2",
1558
+ "parentReceptacles": [
1559
+ "Desk|-00.79|+00.00|-01.03"
1560
+ ],
1561
+ "controlledObjects": null,
1562
+ "isMoving": false,
1563
+ "axisAlignedBoundingBox": {
1564
+ "cornerPoints": [
1565
+ [
1566
+ -0.5131471157073975,
1567
+ 0.8245425224304199,
1568
+ -1.5487008094787598
1569
+ ],
1570
+ [
1571
+ -0.5131471157073975,
1572
+ 0.8245425224304199,
1573
+ -1.8918523788452148
1574
+ ],
1575
+ [
1576
+ -0.5131471157073975,
1577
+ 0.7901684045791626,
1578
+ -1.5487008094787598
1579
+ ],
1580
+ [
1581
+ -0.5131471157073975,
1582
+ 0.7901684045791626,
1583
+ -1.8918523788452148
1584
+ ],
1585
+ [
1586
+ -0.8581488132476807,
1587
+ 0.8245425224304199,
1588
+ -1.5487008094787598
1589
+ ],
1590
+ [
1591
+ -0.8581488132476807,
1592
+ 0.8245425224304199,
1593
+ -1.8918523788452148
1594
+ ],
1595
+ [
1596
+ -0.8581488132476807,
1597
+ 0.7901684045791626,
1598
+ -1.5487008094787598
1599
+ ],
1600
+ [
1601
+ -0.8581488132476807,
1602
+ 0.7901684045791626,
1603
+ -1.8918523788452148
1604
+ ]
1605
+ ],
1606
+ "center": {
1607
+ "x": -0.6856479644775391,
1608
+ "y": 0.8073554635047913,
1609
+ "z": -1.7202765941619873
1610
+ },
1611
+ "size": {
1612
+ "x": 0.3450016975402832,
1613
+ "y": 0.034374117851257324,
1614
+ "z": 0.3431515693664551
1615
+ }
1616
+ },
1617
+ "objectOrientedBoundingBox": {
1618
+ "cornerPoints": [
1619
+ [
1620
+ -0.6633621454238892,
1621
+ 0.7907218933105469,
1622
+ -1.8917338848114014
1623
+ ],
1624
+ [
1625
+ -0.512986421585083,
1626
+ 0.7934340834617615,
1627
+ -1.7332048416137695
1628
+ ],
1629
+ [
1630
+ -0.7075916528701782,
1631
+ 0.792649507522583,
1632
+ -1.5485950708389282
1633
+ ],
1634
+ [
1635
+ -0.8579673767089844,
1636
+ 0.7899373769760132,
1637
+ -1.7071242332458496
1638
+ ],
1639
+ [
1640
+ -0.6636963486671448,
1641
+ 0.8220595121383667,
1642
+ -1.8919529914855957
1643
+ ],
1644
+ [
1645
+ -0.5133206248283386,
1646
+ 0.8247717022895813,
1647
+ -1.7334239482879639
1648
+ ],
1649
+ [
1650
+ -0.7079258561134338,
1651
+ 0.8239871263504028,
1652
+ -1.5488141775131226
1653
+ ],
1654
+ [
1655
+ -0.8583015203475952,
1656
+ 0.8212749361991882,
1657
+ -1.707343339920044
1658
+ ]
1659
+ ]
1660
+ }
1661
+ }
1662
+ },
1663
+ {
1664
+ "objectId": "Bowl|-00.81|+00.83|-02.09",
1665
+ "object_info": {
1666
+ "name": "Bowl_f1b62db6",
1667
+ "position": {
1668
+ "x": -0.8094572424888611,
1669
+ "y": 0.8261294364929199,
1670
+ "z": -2.085200309753418
1671
+ },
1672
+ "rotation": {
1673
+ "x": -0.00040736887603998184,
1674
+ "y": -0.0008419946534559131,
1675
+ "z": -0.000521054957062006
1676
+ },
1677
+ "visible": false,
1678
+ "isInteractable": false,
1679
+ "receptacle": true,
1680
+ "toggleable": false,
1681
+ "isToggled": false,
1682
+ "breakable": true,
1683
+ "isBroken": false,
1684
+ "canFillWithLiquid": true,
1685
+ "isFilledWithLiquid": false,
1686
+ "fillLiquid": null,
1687
+ "dirtyable": true,
1688
+ "isDirty": false,
1689
+ "canBeUsedUp": false,
1690
+ "isUsedUp": false,
1691
+ "cookable": false,
1692
+ "isCooked": false,
1693
+ "temperature": "RoomTemp",
1694
+ "isHeatSource": false,
1695
+ "isColdSource": false,
1696
+ "sliceable": false,
1697
+ "isSliced": false,
1698
+ "openable": false,
1699
+ "isOpen": false,
1700
+ "openness": 0.0,
1701
+ "pickupable": true,
1702
+ "isPickedUp": false,
1703
+ "moveable": false,
1704
+ "mass": 0.4699999988079071,
1705
+ "salientMaterials": [
1706
+ "Glass"
1707
+ ],
1708
+ "receptacleObjectIds": [],
1709
+ "distance": 2.2380542755126953,
1710
+ "objectType": "Bowl",
1711
+ "objectId": "Bowl|-00.81|+00.83|-02.09",
1712
+ "assetId": "Bowl_2",
1713
+ "parentReceptacles": [
1714
+ "Shelf|-00.47|+00.83|-02.04"
1715
+ ],
1716
+ "controlledObjects": null,
1717
+ "isMoving": false,
1718
+ "axisAlignedBoundingBox": {
1719
+ "cornerPoints": [
1720
+ [
1721
+ -0.7163562774658203,
1722
+ 0.9683377742767334,
1723
+ -1.9903640747070312
1724
+ ],
1725
+ [
1726
+ -0.7163562774658203,
1727
+ 0.9683377742767334,
1728
+ -2.1803340911865234
1729
+ ],
1730
+ [
1731
+ -0.7163562774658203,
1732
+ 0.8250000476837158,
1733
+ -1.9903640747070312
1734
+ ],
1735
+ [
1736
+ -0.7163562774658203,
1737
+ 0.8250000476837158,
1738
+ -2.1803340911865234
1739
+ ],
1740
+ [
1741
+ -0.9047278165817261,
1742
+ 0.9683377742767334,
1743
+ -1.9903640747070312
1744
+ ],
1745
+ [
1746
+ -0.9047278165817261,
1747
+ 0.9683377742767334,
1748
+ -2.1803340911865234
1749
+ ],
1750
+ [
1751
+ -0.9047278165817261,
1752
+ 0.8250000476837158,
1753
+ -1.9903640747070312
1754
+ ],
1755
+ [
1756
+ -0.9047278165817261,
1757
+ 0.8250000476837158,
1758
+ -2.1803340911865234
1759
+ ]
1760
+ ],
1761
+ "center": {
1762
+ "x": -0.8105420470237732,
1763
+ "y": 0.8966689109802246,
1764
+ "z": -2.0853490829467773
1765
+ },
1766
+ "size": {
1767
+ "x": 0.18837153911590576,
1768
+ "y": 0.14333772659301758,
1769
+ "z": 0.1899700164794922
1770
+ }
1771
+ },
1772
+ "objectOrientedBoundingBox": {
1773
+ "cornerPoints": [
1774
+ [
1775
+ -0.7163596749305725,
1776
+ 0.8250004649162292,
1777
+ -1.990362286567688
1778
+ ],
1779
+ [
1780
+ -0.9047293066978455,
1781
+ 0.8250020146369934,
1782
+ -1.9903650283813477
1783
+ ],
1784
+ [
1785
+ -0.9047265648841858,
1786
+ 0.8250008821487427,
1787
+ -2.180333375930786
1788
+ ],
1789
+ [
1790
+ -0.7163569331169128,
1791
+ 0.8249992728233337,
1792
+ -2.180330753326416
1793
+ ],
1794
+ [
1795
+ -0.716358482837677,
1796
+ 0.9683365821838379,
1797
+ -1.9903631210327148
1798
+ ],
1799
+ [
1800
+ -0.90472811460495,
1801
+ 0.968338131904602,
1802
+ -1.9903658628463745
1803
+ ],
1804
+ [
1805
+ -0.9047253727912903,
1806
+ 0.9683369398117065,
1807
+ -2.1803343296051025
1808
+ ],
1809
+ [
1810
+ -0.7163557410240173,
1811
+ 0.9683353900909424,
1812
+ -2.1803317070007324
1813
+ ]
1814
+ ]
1815
+ }
1816
+ }
1817
+ },
1818
+ {
1819
+ "objectId": "CreditCard|-00.39|+00.80|-01.70",
1820
+ "object_info": {
1821
+ "name": "CreditCard_e329e7f5",
1822
+ "position": {
1823
+ "x": -0.3930777907371521,
1824
+ "y": 0.7956520915031433,
1825
+ "z": -1.6976341009140015
1826
+ },
1827
+ "rotation": {
1828
+ "x": 359.567626953125,
1829
+ "y": 358.1339111328125,
1830
+ "z": 0.6719118356704712
1831
+ },
1832
+ "visible": false,
1833
+ "isInteractable": false,
1834
+ "receptacle": false,
1835
+ "toggleable": false,
1836
+ "isToggled": false,
1837
+ "breakable": false,
1838
+ "isBroken": false,
1839
+ "canFillWithLiquid": false,
1840
+ "isFilledWithLiquid": false,
1841
+ "fillLiquid": null,
1842
+ "dirtyable": false,
1843
+ "isDirty": false,
1844
+ "canBeUsedUp": false,
1845
+ "isUsedUp": false,
1846
+ "cookable": false,
1847
+ "isCooked": false,
1848
+ "temperature": "RoomTemp",
1849
+ "isHeatSource": false,
1850
+ "isColdSource": false,
1851
+ "sliceable": false,
1852
+ "isSliced": false,
1853
+ "openable": false,
1854
+ "isOpen": false,
1855
+ "openness": 0.0,
1856
+ "pickupable": true,
1857
+ "isPickedUp": false,
1858
+ "moveable": false,
1859
+ "mass": 0.005999999586492777,
1860
+ "salientMaterials": [
1861
+ "Plastic"
1862
+ ],
1863
+ "receptacleObjectIds": null,
1864
+ "distance": 1.7457289695739746,
1865
+ "objectType": "CreditCard",
1866
+ "objectId": "CreditCard|-00.39|+00.80|-01.70",
1867
+ "assetId": "CreditCard_2",
1868
+ "parentReceptacles": [
1869
+ "Desk|-00.79|+00.00|-01.03"
1870
+ ],
1871
+ "controlledObjects": null,
1872
+ "isMoving": false,
1873
+ "axisAlignedBoundingBox": {
1874
+ "cornerPoints": [
1875
+ [
1876
+ -0.349138081073761,
1877
+ 0.8005051016807556,
1878
+ -1.6692479848861694
1879
+ ],
1880
+ [
1881
+ -0.349138081073761,
1882
+ 0.8005051016807556,
1883
+ -1.7260500192642212
1884
+ ],
1885
+ [
1886
+ -0.349138081073761,
1887
+ 0.7945986390113831,
1888
+ -1.6692479848861694
1889
+ ],
1890
+ [
1891
+ -0.349138081073761,
1892
+ 0.7945986390113831,
1893
+ -1.7260500192642212
1894
+ ],
1895
+ [
1896
+ -0.4370614290237427,
1897
+ 0.8005051016807556,
1898
+ -1.6692479848861694
1899
+ ],
1900
+ [
1901
+ -0.4370614290237427,
1902
+ 0.8005051016807556,
1903
+ -1.7260500192642212
1904
+ ],
1905
+ [
1906
+ -0.4370614290237427,
1907
+ 0.7945986390113831,
1908
+ -1.6692479848861694
1909
+ ],
1910
+ [
1911
+ -0.4370614290237427,
1912
+ 0.7945986390113831,
1913
+ -1.7260500192642212
1914
+ ]
1915
+ ],
1916
+ "center": {
1917
+ "x": -0.39309975504875183,
1918
+ "y": 0.7975518703460693,
1919
+ "z": -1.6976490020751953
1920
+ },
1921
+ "size": {
1922
+ "x": 0.08792334794998169,
1923
+ "y": 0.005906462669372559,
1924
+ "z": 0.05680203437805176
1925
+ }
1926
+ },
1927
+ "objectOrientedBoundingBox": {
1928
+ "cornerPoints": [
1929
+ [
1930
+ -0.35089659690856934,
1931
+ 0.7960159778594971,
1932
+ -1.669248104095459
1933
+ ],
1934
+ [
1935
+ -0.43700990080833435,
1936
+ 0.7950054407119751,
1937
+ -1.672046422958374
1938
+ ],
1939
+ [
1940
+ -0.435251384973526,
1941
+ 0.7945986986160278,
1942
+ -1.7260146141052246
1943
+ ],
1944
+ [
1945
+ -0.349138081073761,
1946
+ 0.7956092357635498,
1947
+ -1.7232162952423096
1948
+ ],
1949
+ [
1950
+ -0.35094812512397766,
1951
+ 0.8005051612854004,
1952
+ -1.6692836284637451
1953
+ ],
1954
+ [
1955
+ -0.4370614290237427,
1956
+ 0.7994945645332336,
1957
+ -1.6720819473266602
1958
+ ],
1959
+ [
1960
+ -0.4353029131889343,
1961
+ 0.7990878224372864,
1962
+ -1.7260501384735107
1963
+ ],
1964
+ [
1965
+ -0.3491896092891693,
1966
+ 0.8000984191894531,
1967
+ -1.7232518196105957
1968
+ ]
1969
+ ]
1970
+ }
1971
+ }
1972
+ },
1973
+ {
1974
+ "objectId": "Laptop|-01.04|+00.79|-01.51",
1975
+ "object_info": {
1976
+ "name": "Laptop_044c100c",
1977
+ "position": {
1978
+ "x": -1.038210153579712,
1979
+ "y": 0.7894067168235779,
1980
+ "z": -1.5061670541763306
1981
+ },
1982
+ "rotation": {
1983
+ "x": 359.2748107910156,
1984
+ "y": 30.336620330810547,
1985
+ "z": 0.34101602435112
1986
+ },
1987
+ "visible": false,
1988
+ "isInteractable": false,
1989
+ "receptacle": false,
1990
+ "toggleable": true,
1991
+ "isToggled": false,
1992
+ "breakable": true,
1993
+ "isBroken": false,
1994
+ "canFillWithLiquid": false,
1995
+ "isFilledWithLiquid": false,
1996
+ "fillLiquid": null,
1997
+ "dirtyable": false,
1998
+ "isDirty": false,
1999
+ "canBeUsedUp": false,
2000
+ "isUsedUp": false,
2001
+ "cookable": false,
2002
+ "isCooked": false,
2003
+ "temperature": "RoomTemp",
2004
+ "isHeatSource": false,
2005
+ "isColdSource": false,
2006
+ "sliceable": false,
2007
+ "isSliced": false,
2008
+ "openable": true,
2009
+ "isOpen": true,
2010
+ "openness": 1.0,
2011
+ "pickupable": true,
2012
+ "isPickedUp": false,
2013
+ "moveable": false,
2014
+ "mass": 2.299999952316284,
2015
+ "salientMaterials": [
2016
+ "Metal",
2017
+ "Plastic",
2018
+ "Glass"
2019
+ ],
2020
+ "receptacleObjectIds": null,
2021
+ "distance": 1.8327226638793945,
2022
+ "objectType": "Laptop",
2023
+ "objectId": "Laptop|-01.04|+00.79|-01.51",
2024
+ "assetId": "Laptop_2",
2025
+ "parentReceptacles": [
2026
+ "Desk|-00.79|+00.00|-01.03"
2027
+ ],
2028
+ "controlledObjects": [],
2029
+ "isMoving": false,
2030
+ "axisAlignedBoundingBox": {
2031
+ "cornerPoints": [
2032
+ [
2033
+ -0.8132658004760742,
2034
+ 1.0719794034957886,
2035
+ -1.2931039333343506
2036
+ ],
2037
+ [
2038
+ -0.8132658004760742,
2039
+ 1.0719794034957886,
2040
+ -1.7145462036132812
2041
+ ],
2042
+ [
2043
+ -0.8132658004760742,
2044
+ 0.7866829633712769,
2045
+ -1.2931039333343506
2046
+ ],
2047
+ [
2048
+ -0.8132658004760742,
2049
+ 0.7866829633712769,
2050
+ -1.7145462036132812
2051
+ ],
2052
+ [
2053
+ -1.262366771697998,
2054
+ 1.0719794034957886,
2055
+ -1.2931039333343506
2056
+ ],
2057
+ [
2058
+ -1.262366771697998,
2059
+ 1.0719794034957886,
2060
+ -1.7145462036132812
2061
+ ],
2062
+ [
2063
+ -1.262366771697998,
2064
+ 0.7866829633712769,
2065
+ -1.2931039333343506
2066
+ ],
2067
+ [
2068
+ -1.262366771697998,
2069
+ 0.7866829633712769,
2070
+ -1.7145462036132812
2071
+ ]
2072
+ ],
2073
+ "center": {
2074
+ "x": -1.0378162860870361,
2075
+ "y": 0.9293311834335327,
2076
+ "z": -1.503825068473816
2077
+ },
2078
+ "size": {
2079
+ "x": 0.44910097122192383,
2080
+ "y": 0.2852964401245117,
2081
+ "z": 0.42144227027893066
2082
+ }
2083
+ },
2084
+ "objectOrientedBoundingBox": {
2085
+ "cornerPoints": [
2086
+ [
2087
+ -0.8132659196853638,
2088
+ 0.7922695875167847,
2089
+ -1.4716135263442993
2090
+ ],
2091
+ [
2092
+ -1.1182472705841064,
2093
+ 0.7901657819747925,
2094
+ -1.2931039333343506
2095
+ ],
2096
+ [
2097
+ -1.259106159210205,
2098
+ 0.7866412401199341,
2099
+ -1.5338010787963867
2100
+ ],
2101
+ [
2102
+ -0.9541248679161072,
2103
+ 0.7887450456619263,
2104
+ -1.7123106718063354
2105
+ ],
2106
+ [
2107
+ -0.8165266513824463,
2108
+ 1.0752654075622559,
2109
+ -1.4738491773605347
2110
+ ],
2111
+ [
2112
+ -1.121508002281189,
2113
+ 1.0731616020202637,
2114
+ -1.295339584350586
2115
+ ],
2116
+ [
2117
+ -1.2623668909072876,
2118
+ 1.0696370601654053,
2119
+ -1.5360368490219116
2120
+ ],
2121
+ [
2122
+ -0.9573855996131897,
2123
+ 1.0717408657073975,
2124
+ -1.7145463228225708
2125
+ ]
2126
+ ]
2127
+ }
2128
+ }
2129
+ },
2130
+ {
2131
+ "objectId": "CellPhone|-01.07|+00.80|-00.64",
2132
+ "object_info": {
2133
+ "name": "CellPhone_d688f9d9",
2134
+ "position": {
2135
+ "x": -1.0740317106246948,
2136
+ "y": 0.7958630323410034,
2137
+ "z": -0.6380314826965332
2138
+ },
2139
+ "rotation": {
2140
+ "x": 0.006098452024161816,
2141
+ "y": 146.07643127441406,
2142
+ "z": 359.2025451660156
2143
+ },
2144
+ "visible": false,
2145
+ "isInteractable": false,
2146
+ "receptacle": false,
2147
+ "toggleable": true,
2148
+ "isToggled": false,
2149
+ "breakable": true,
2150
+ "isBroken": false,
2151
+ "canFillWithLiquid": false,
2152
+ "isFilledWithLiquid": false,
2153
+ "fillLiquid": null,
2154
+ "dirtyable": false,
2155
+ "isDirty": false,
2156
+ "canBeUsedUp": false,
2157
+ "isUsedUp": false,
2158
+ "cookable": false,
2159
+ "isCooked": false,
2160
+ "temperature": "RoomTemp",
2161
+ "isHeatSource": false,
2162
+ "isColdSource": false,
2163
+ "sliceable": false,
2164
+ "isSliced": false,
2165
+ "openable": false,
2166
+ "isOpen": false,
2167
+ "openness": 0.0,
2168
+ "pickupable": true,
2169
+ "isPickedUp": false,
2170
+ "moveable": false,
2171
+ "mass": 0.1599999964237213,
2172
+ "salientMaterials": [
2173
+ "Metal",
2174
+ "Glass"
2175
+ ],
2176
+ "receptacleObjectIds": null,
2177
+ "distance": 1.2536673545837402,
2178
+ "objectType": "CellPhone",
2179
+ "objectId": "CellPhone|-01.07|+00.80|-00.64",
2180
+ "assetId": "Cellphone_2",
2181
+ "parentReceptacles": [
2182
+ "Desk|-00.79|+00.00|-01.03"
2183
+ ],
2184
+ "controlledObjects": [],
2185
+ "isMoving": false,
2186
+ "axisAlignedBoundingBox": {
2187
+ "cornerPoints": [
2188
+ [
2189
+ -0.9966343641281128,
2190
+ 0.8024857640266418,
2191
+ -0.549640953540802
2192
+ ],
2193
+ [
2194
+ -0.9966343641281128,
2195
+ 0.8024857640266418,
2196
+ -0.7267826199531555
2197
+ ],
2198
+ [
2199
+ -0.9966343641281128,
2200
+ 0.7952550053596497,
2201
+ -0.549640953540802
2202
+ ],
2203
+ [
2204
+ -0.9966343641281128,
2205
+ 0.7952550053596497,
2206
+ -0.7267826199531555
2207
+ ],
2208
+ [
2209
+ -1.1512879133224487,
2210
+ 0.8024857640266418,
2211
+ -0.549640953540802
2212
+ ],
2213
+ [
2214
+ -1.1512879133224487,
2215
+ 0.8024857640266418,
2216
+ -0.7267826199531555
2217
+ ],
2218
+ [
2219
+ -1.1512879133224487,
2220
+ 0.7952550053596497,
2221
+ -0.549640953540802
2222
+ ],
2223
+ [
2224
+ -1.1512879133224487,
2225
+ 0.7952550053596497,
2226
+ -0.7267826199531555
2227
+ ]
2228
+ ],
2229
+ "center": {
2230
+ "x": -1.0739611387252808,
2231
+ "y": 0.7988703846931458,
2232
+ "z": -0.6382117867469788
2233
+ },
2234
+ "size": {
2235
+ "x": 0.15465354919433594,
2236
+ "y": 0.0072307586669921875,
2237
+ "z": 0.17714166641235352
2238
+ }
2239
+ },
2240
+ "objectOrientedBoundingBox": {
2241
+ "cornerPoints": [
2242
+ [
2243
+ -1.0614113807678223,
2244
+ 0.7952548861503601,
2245
+ -0.726734459400177
2246
+ ],
2247
+ [
2248
+ -0.996634304523468,
2249
+ 0.7963414788246155,
2250
+ -0.6831673979759216
2251
+ ],
2252
+ [
2253
+ -1.0864403247833252,
2254
+ 0.7963586449623108,
2255
+ -0.5496410131454468
2256
+ ],
2257
+ [
2258
+ -1.1512174606323242,
2259
+ 0.7952719926834106,
2260
+ -0.5932080745697021
2261
+ ],
2262
+ [
2263
+ -1.0614818334579468,
2264
+ 0.8013822436332703,
2265
+ -0.7267826199531555
2266
+ ],
2267
+ [
2268
+ -0.9967046976089478,
2269
+ 0.8024688363075256,
2270
+ -0.6832154989242554
2271
+ ],
2272
+ [
2273
+ -1.0865107774734497,
2274
+ 0.802486002445221,
2275
+ -0.5496891140937805
2276
+ ],
2277
+ [
2278
+ -1.1512877941131592,
2279
+ 0.8013994097709656,
2280
+ -0.5932562351226807
2281
+ ]
2282
+ ]
2283
+ }
2284
+ }
2285
+ },
2286
+ {
2287
+ "objectId": "Pencil|-01.16|+00.80|-01.18",
2288
+ "object_info": {
2289
+ "name": "Pencil_84aef9b5",
2290
+ "position": {
2291
+ "x": -1.1593528985977173,
2292
+ "y": 0.7952955961227417,
2293
+ "z": -1.180025577545166
2294
+ },
2295
+ "rotation": {
2296
+ "x": 0.7953882813453674,
2297
+ "y": 239.443115234375,
2298
+ "z": 34.56989669799805
2299
+ },
2300
+ "visible": false,
2301
+ "isInteractable": false,
2302
+ "receptacle": false,
2303
+ "toggleable": false,
2304
+ "isToggled": false,
2305
+ "breakable": false,
2306
+ "isBroken": false,
2307
+ "canFillWithLiquid": false,
2308
+ "isFilledWithLiquid": false,
2309
+ "fillLiquid": null,
2310
+ "dirtyable": false,
2311
+ "isDirty": false,
2312
+ "canBeUsedUp": false,
2313
+ "isUsedUp": false,
2314
+ "cookable": false,
2315
+ "isCooked": false,
2316
+ "temperature": "RoomTemp",
2317
+ "isHeatSource": false,
2318
+ "isColdSource": false,
2319
+ "sliceable": false,
2320
+ "isSliced": false,
2321
+ "openable": false,
2322
+ "isOpen": false,
2323
+ "openness": 0.0,
2324
+ "pickupable": true,
2325
+ "isPickedUp": false,
2326
+ "moveable": false,
2327
+ "mass": 0.005999999586492777,
2328
+ "salientMaterials": [
2329
+ "Wood"
2330
+ ],
2331
+ "receptacleObjectIds": null,
2332
+ "distance": 1.6576286554336548,
2333
+ "objectType": "Pencil",
2334
+ "objectId": "Pencil|-01.16|+00.80|-01.18",
2335
+ "assetId": "Pencil_2",
2336
+ "parentReceptacles": [
2337
+ "Desk|-00.79|+00.00|-01.03"
2338
+ ],
2339
+ "controlledObjects": null,
2340
+ "isMoving": false,
2341
+ "axisAlignedBoundingBox": {
2342
+ "cornerPoints": [
2343
+ [
2344
+ -1.0767266750335693,
2345
+ 0.8012788891792297,
2346
+ -1.129307746887207
2347
+ ],
2348
+ [
2349
+ -1.0767266750335693,
2350
+ 0.8012788891792297,
2351
+ -1.2339882850646973
2352
+ ],
2353
+ [
2354
+ -1.0767266750335693,
2355
+ 0.789223849773407,
2356
+ -1.129307746887207
2357
+ ],
2358
+ [
2359
+ -1.0767266750335693,
2360
+ 0.789223849773407,
2361
+ -1.2339882850646973
2362
+ ],
2363
+ [
2364
+ -1.2474753856658936,
2365
+ 0.8012788891792297,
2366
+ -1.129307746887207
2367
+ ],
2368
+ [
2369
+ -1.2474753856658936,
2370
+ 0.8012788891792297,
2371
+ -1.2339882850646973
2372
+ ],
2373
+ [
2374
+ -1.2474753856658936,
2375
+ 0.789223849773407,
2376
+ -1.129307746887207
2377
+ ],
2378
+ [
2379
+ -1.2474753856658936,
2380
+ 0.789223849773407,
2381
+ -1.2339882850646973
2382
+ ]
2383
+ ],
2384
+ "center": {
2385
+ "x": -1.1621010303497314,
2386
+ "y": 0.7952513694763184,
2387
+ "z": -1.1816480159759521
2388
+ },
2389
+ "size": {
2390
+ "x": 0.17074871063232422,
2391
+ "y": 0.012055039405822754,
2392
+ "z": 0.10468053817749023
2393
+ }
2394
+ },
2395
+ "objectOrientedBoundingBox": {
2396
+ "cornerPoints": [
2397
+ [
2398
+ -1.2501469850540161,
2399
+ 0.7926750183105469,
2400
+ -1.2259929180145264
2401
+ ],
2402
+ [
2403
+ -1.2461246252059937,
2404
+ 0.7873105406761169,
2405
+ -1.2326595783233643
2406
+ ],
2407
+ [
2408
+ -1.0766898393630981,
2409
+ 0.7900422215461731,
2410
+ -1.132628083229065
2411
+ ],
2412
+ [
2413
+ -1.0807121992111206,
2414
+ 0.7954066395759583,
2415
+ -1.1259615421295166
2416
+ ],
2417
+ [
2418
+ -1.2475123405456543,
2419
+ 0.8004603981971741,
2420
+ -1.230668067932129
2421
+ ],
2422
+ [
2423
+ -1.2434899806976318,
2424
+ 0.7950959801673889,
2425
+ -1.2373346090316772
2426
+ ],
2427
+ [
2428
+ -1.0740551948547363,
2429
+ 0.7978276014328003,
2430
+ -1.1373032331466675
2431
+ ],
2432
+ [
2433
+ -1.0780775547027588,
2434
+ 0.8031920194625854,
2435
+ -1.1306365728378296
2436
+ ]
2437
+ ]
2438
+ }
2439
+ }
2440
+ }
2441
+ ],
2442
+ "Agent": {
2443
+ "agent_position": {
2444
+ "x": -0.699999988079071,
2445
+ "y": 0.9009991884231567,
2446
+ "z": 0.6000000238418579
2447
+ },
2448
+ "agent_rotation": {
2449
+ "x": -0.0,
2450
+ "y": 210.0,
2451
+ "z": 0.0
2452
+ },
2453
+ "agent_cameraHorizon": 0.0,
2454
+ "agent_isStanding": true,
2455
+ "agent_inHighFrictionArea": false
2456
+ },
2457
+ "camera_info": {
2458
+ "cameraPosition": {
2459
+ "x": -0.699999988079071,
2460
+ "y": 1.5759992599487305,
2461
+ "z": 0.6000000238418579
2462
+ },
2463
+ "cameraOrthSize": -1.0,
2464
+ "fov": 90.0
2465
+ },
2466
+ "common_object": [
2467
+ "Mirror|-01.38|+01.57|+00.51",
2468
+ "Desk|-00.79|+00.00|-01.03",
2469
+ "CellPhone|-01.07|+00.80|-00.64",
2470
+ "Shelf|-01.29|+01.45|-00.60",
2471
+ "Shelf|-01.29|+01.81|-00.60"
2472
+ ],
2473
+ "different_object": [
2474
+ "Chair|-00.68|+00.00|-01.33",
2475
+ "Window|-00.47|+01.40|-02.25",
2476
+ "HousePlant|-00.08|+00.83|-02.05",
2477
+ "Bowl|-00.81|+00.83|-02.09",
2478
+ "Book|-00.69|+00.79|-01.72",
2479
+ "Pencil|-01.16|+00.80|-01.18",
2480
+ "Pen|-01.13|+00.80|-01.24",
2481
+ "SideTable|+00.41|+00.00|-01.68",
2482
+ "Laptop|-01.04|+00.79|-01.51",
2483
+ "Shelf|-01.29|+01.45|-01.34",
2484
+ "Blinds|-00.45|+02.16|-02.24",
2485
+ "Shelf|-01.29|+01.81|-01.34",
2486
+ "CreditCard|-00.39|+00.80|-01.70"
2487
+ ]
2488
+ }
train/FloorPlan302/0/1_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b0120aa7fe97f71dd1a19485cd024d73b04e4e57c6f812aeed30771839167060
3
+ size 3145856
train/FloorPlan302/0/1_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:73ae99aa003b05126bae99b005b9ffd46567fe7ed76bb525ca59e652da51a297
3
+ size 2359424
train/FloorPlan302/0/depth_0.png ADDED
train/FloorPlan302/0/depth_1.png ADDED
train/FloorPlan302/0/mask_questions.jsonl ADDED
@@ -0,0 +1,6 @@
 
 
 
 
 
 
 
1
+ {"id": 27756, "folder_dir": "FloorPlan302/0", "pair_name": "0-1:Mirror|-01.38|+01.57|+00.51", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Desk\nB. Drawer\nC. DeskLamp\nD. Mirror", "answer": "D", "object_name": "Mirror", "image_1": "FloorPlan302/0/rgb_0.png", "image_2": "FloorPlan302/0/rgb_1.png", "mask_image": "FloorPlan302/0/rgb_1_mask_Mirror|-01.38|+01.57|+00.51.png", "options": ["Desk", "Drawer", "DeskLamp", "Mirror"]}
2
+ {"id": 27757, "folder_dir": "FloorPlan302/0", "pair_name": "0-1:Shelf|-01.29|+01.45|-00.60", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Mirror\nB. LightSwitch\nC. Shelf\nD. SideTable", "answer": "C", "object_name": "Shelf", "image_1": "FloorPlan302/0/rgb_0.png", "image_2": "FloorPlan302/0/rgb_1.png", "mask_image": "FloorPlan302/0/rgb_1_mask_Shelf|-01.29|+01.45|-00.60.png", "options": ["Mirror", "LightSwitch", "Shelf", "SideTable"]}
3
+ {"id": 27758, "folder_dir": "FloorPlan302/0", "pair_name": "0-1:Shelf|-01.29|+01.81|-00.60", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black 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. SideTable\nC. TennisRacket\nD. Mirror", "answer": "A", "object_name": "Shelf", "image_1": "FloorPlan302/0/rgb_0.png", "image_2": "FloorPlan302/0/rgb_1.png", "mask_image": "FloorPlan302/0/rgb_1_mask_Shelf|-01.29|+01.81|-00.60.png", "options": ["Shelf", "SideTable", "TennisRacket", "Mirror"]}
4
+ {"id": 27759, "folder_dir": "FloorPlan302/0", "pair_name": "1-0:Mirror|-01.38|+01.57|+00.51", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black 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. Laptop\nC. Desk\nD. Mirror", "answer": "D", "object_name": "Mirror", "image_1": "FloorPlan302/0/rgb_1.png", "image_2": "FloorPlan302/0/rgb_0.png", "mask_image": "FloorPlan302/0/rgb_0_mask_Mirror|-01.38|+01.57|+00.51.png", "options": ["Bowl", "Laptop", "Desk", "Mirror"]}
5
+ {"id": 27760, "folder_dir": "FloorPlan302/0", "pair_name": "1-0:Shelf|-01.29|+01.45|-00.60", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Mirror\nB. Shelf\nC. SideTable\nD. Window", "answer": "B", "object_name": "Shelf", "image_1": "FloorPlan302/0/rgb_1.png", "image_2": "FloorPlan302/0/rgb_0.png", "mask_image": "FloorPlan302/0/rgb_0_mask_Shelf|-01.29|+01.45|-00.60.png", "options": ["Mirror", "Shelf", "SideTable", "Window"]}
6
+ {"id": 27761, "folder_dir": "FloorPlan302/0", "pair_name": "1-0:Shelf|-01.29|+01.81|-00.60", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black 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. CreditCard\nC. Window\nD. Mirror", "answer": "A", "object_name": "Shelf", "image_1": "FloorPlan302/0/rgb_1.png", "image_2": "FloorPlan302/0/rgb_0.png", "mask_image": "FloorPlan302/0/rgb_0_mask_Shelf|-01.29|+01.81|-00.60.png", "options": ["Shelf", "CreditCard", "Window", "Mirror"]}
train/FloorPlan302/0/questions_distance.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"id": 7977, "folder_dir": "FloorPlan302/0", "query": "Which of the following objects is closest to Mirror 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. LightSwitch\nB. CellPhone\nC. TennisRacket\nD. Other\n", "answer": "C", "src_object": "Mirror", "target_object": "TennisRacket", "question": "Which of the following objects is closest to Mirror 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": "LightSwitch", "semantic_id": "LightSwitch|+00.01|+01.32|+01.50", "distance": 1.6987107252090565, "com": {"x": 0.010999981313943863, "y": 1.315000057220459, "z": 1.484620451927185}}, {"text": "CellPhone", "semantic_id": "CellPhone|-01.07|+00.80|-00.64", "distance": 1.376575285926433, "com": {"x": -1.0739611387252808, "y": 0.7988703846931458, "z": -0.6382117867469788}}, {"text": "TennisRacket", "semantic_id": "TennisRacket|-01.24|+00.32|-00.07", "distance": 1.3313639551898757, "com": {"x": -1.2305433750152588, "y": 0.3210269510746002, "z": -0.07516589760780334}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan302/0/rgb_0.png", "image_2": "FloorPlan302/0/rgb_1.png"}
2
+ {"id": 7978, "folder_dir": "FloorPlan302/0", "query": "Which of the following objects is closest to Desk in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pencil\nB. Chair\nC. Pen\nD. Other\n", "answer": "B", "src_object": "Desk", "target_object": "Chair", "question": "Which of the following objects is closest to Desk in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pencil", "semantic_id": "Pencil|-01.16|+00.80|-01.18", "distance": 0.5566447958351346, "com": {"x": -1.1621010303497314, "y": 0.7952513694763184, "z": -1.1816480159759521}}, {"text": "Chair", "semantic_id": "Chair|-00.68|+00.00|-01.33", "distance": 0.2971250765857266, "com": {"x": -0.6832093596458435, "y": 0.4374828338623047, "z": -1.3060671091079712}}, {"text": "Pen", "semantic_id": "Pen|-01.13|+00.80|-01.24", "distance": 0.5600094725228864, "com": {"x": -1.1373541355133057, "y": 0.7959962487220764, "z": -1.2399829626083374}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan302/0/rgb_0.png", "image_2": "FloorPlan302/0/rgb_1.png"}
train/FloorPlan302/0/rgb_0.png ADDED

Git LFS Details

  • SHA256: f6c622b9ffedd1858438c880eecd8e58303d264aac7a4845a111f0e6cd3bb4bb
  • Pointer size: 131 Bytes
  • Size of remote file: 884 kB
train/FloorPlan302/0/rgb_0_mask_Mirror|-01.38|+01.57|+00.51.png ADDED

Git LFS Details

  • SHA256: 14f29aba8f733c3f9fd05358141c009470c684621cf4c9de50771038db186c7b
  • Pointer size: 131 Bytes
  • Size of remote file: 773 kB
train/FloorPlan302/0/rgb_0_mask_Shelf|-01.29|+01.45|-00.60.png ADDED

Git LFS Details

  • SHA256: d06f36933f787205c2d8ace73961b6162720b77f8bbd9fe43a50131153fc0db1
  • Pointer size: 131 Bytes
  • Size of remote file: 776 kB
train/FloorPlan302/0/rgb_0_mask_Shelf|-01.29|+01.81|-00.60.png ADDED

Git LFS Details

  • SHA256: f10b2371ecd171c146329f42c3be8f87084524114edeb17fa6fe5f886197c3b0
  • Pointer size: 131 Bytes
  • Size of remote file: 774 kB
train/FloorPlan302/0/rgb_1.png ADDED

Git LFS Details

  • SHA256: ead7bd849d98ff91d03a54e161ade8a1464b545b3d15f670112bc199b96f9d54
  • Pointer size: 131 Bytes
  • Size of remote file: 871 kB
train/FloorPlan302/0/rgb_1_mask_Mirror|-01.38|+01.57|+00.51.png ADDED

Git LFS Details

  • SHA256: 2b89dc6555811523c750fffdec5d6e2bfd7293b98dcb69f94a12958f4c51bc4c
  • Pointer size: 131 Bytes
  • Size of remote file: 620 kB
train/FloorPlan302/0/rgb_1_mask_Shelf|-01.29|+01.45|-00.60.png ADDED

Git LFS Details

  • SHA256: c3983970eea679c369e521994ad3fe4905f19cad5e2ce35ec060e0da6cc95c07
  • Pointer size: 131 Bytes
  • Size of remote file: 766 kB
train/FloorPlan302/0/rgb_1_mask_Shelf|-01.29|+01.81|-00.60.png ADDED

Git LFS Details

  • SHA256: a2cd21b0cc3d414470b804477865f7de88030aabbb6da0ee08ba4009a2aa3c6e
  • Pointer size: 131 Bytes
  • Size of remote file: 762 kB
train/FloorPlan302/0/semantic_0.png ADDED
train/FloorPlan302/0/semantic_1.png ADDED
train/FloorPlan302/1/0.json ADDED
@@ -0,0 +1,1015 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "Shelf|-01.29|+01.81|-00.60",
5
+ "object_info": {
6
+ "name": "Shelf_a7d9ee9f",
7
+ "position": {
8
+ "x": -1.2868000268936157,
9
+ "y": 1.8143999576568604,
10
+ "z": -0.6029999852180481
11
+ },
12
+ "rotation": {
13
+ "x": -0.0,
14
+ "y": 0.0,
15
+ "z": 0.0
16
+ },
17
+ "visible": true,
18
+ "isInteractable": true,
19
+ "receptacle": true,
20
+ "toggleable": false,
21
+ "isToggled": false,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": false,
39
+ "isOpen": false,
40
+ "openness": 0.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": false,
44
+ "mass": 0.0,
45
+ "salientMaterials": null,
46
+ "receptacleObjectIds": [],
47
+ "distance": 1.689308762550354,
48
+ "objectType": "Shelf",
49
+ "objectId": "Shelf|-01.29|+01.81|-00.60",
50
+ "assetId": "",
51
+ "parentReceptacles": null,
52
+ "controlledObjects": null,
53
+ "isMoving": false,
54
+ "axisAlignedBoundingBox": {
55
+ "cornerPoints": [
56
+ [
57
+ -1.1771008968353271,
58
+ 2.141514301300049,
59
+ -0.24500679969787598
60
+ ],
61
+ [
62
+ -1.1771008968353271,
63
+ 2.141514301300049,
64
+ -0.9554154872894287
65
+ ],
66
+ [
67
+ -1.1771008968353271,
68
+ 1.8138823509216309,
69
+ -0.24500679969787598
70
+ ],
71
+ [
72
+ -1.1771008968353271,
73
+ 1.8138823509216309,
74
+ -0.9554154872894287
75
+ ],
76
+ [
77
+ -1.3916823863983154,
78
+ 2.141514301300049,
79
+ -0.24500679969787598
80
+ ],
81
+ [
82
+ -1.3916823863983154,
83
+ 2.141514301300049,
84
+ -0.9554154872894287
85
+ ],
86
+ [
87
+ -1.3916823863983154,
88
+ 1.8138823509216309,
89
+ -0.24500679969787598
90
+ ],
91
+ [
92
+ -1.3916823863983154,
93
+ 1.8138823509216309,
94
+ -0.9554154872894287
95
+ ]
96
+ ],
97
+ "center": {
98
+ "x": -1.2843916416168213,
99
+ "y": 1.9776983261108398,
100
+ "z": -0.6002111434936523
101
+ },
102
+ "size": {
103
+ "x": 0.21458148956298828,
104
+ "y": 0.32763195037841797,
105
+ "z": 0.7104086875915527
106
+ }
107
+ },
108
+ "objectOrientedBoundingBox": null
109
+ }
110
+ },
111
+ {
112
+ "objectId": "Drawer|+00.30|+00.46|+01.16",
113
+ "object_info": {
114
+ "name": "Drawer_8f3dd27f",
115
+ "position": {
116
+ "x": 0.304706871509552,
117
+ "y": 0.45572322607040405,
118
+ "z": 1.1591870784759521
119
+ },
120
+ "rotation": {
121
+ "x": -0.001957286847755313,
122
+ "y": 180.0015106201172,
123
+ "z": 0.0008084956207312644
124
+ },
125
+ "visible": false,
126
+ "isInteractable": false,
127
+ "receptacle": true,
128
+ "toggleable": false,
129
+ "isToggled": false,
130
+ "breakable": false,
131
+ "isBroken": false,
132
+ "canFillWithLiquid": false,
133
+ "isFilledWithLiquid": false,
134
+ "fillLiquid": null,
135
+ "dirtyable": false,
136
+ "isDirty": false,
137
+ "canBeUsedUp": false,
138
+ "isUsedUp": false,
139
+ "cookable": false,
140
+ "isCooked": false,
141
+ "temperature": "RoomTemp",
142
+ "isHeatSource": false,
143
+ "isColdSource": false,
144
+ "sliceable": false,
145
+ "isSliced": false,
146
+ "openable": true,
147
+ "isOpen": false,
148
+ "openness": 0.0,
149
+ "pickupable": false,
150
+ "isPickedUp": false,
151
+ "moveable": false,
152
+ "mass": 0.0,
153
+ "salientMaterials": null,
154
+ "receptacleObjectIds": [],
155
+ "distance": 1.278605341911316,
156
+ "objectType": "Drawer",
157
+ "objectId": "Drawer|+00.30|+00.46|+01.16",
158
+ "assetId": "",
159
+ "parentReceptacles": null,
160
+ "controlledObjects": null,
161
+ "isMoving": false,
162
+ "axisAlignedBoundingBox": {
163
+ "cornerPoints": [
164
+ [
165
+ 0.5662636756896973,
166
+ 0.6236447095870972,
167
+ 1.2817351818084717
168
+ ],
169
+ [
170
+ 0.5662636756896973,
171
+ 0.6236447095870972,
172
+ 1.035210371017456
173
+ ],
174
+ [
175
+ 0.5662636756896973,
176
+ 0.32685256004333496,
177
+ 1.2817351818084717
178
+ ],
179
+ [
180
+ 0.5662636756896973,
181
+ 0.32685256004333496,
182
+ 1.035210371017456
183
+ ],
184
+ [
185
+ 0.04312920570373535,
186
+ 0.6236447095870972,
187
+ 1.2817351818084717
188
+ ],
189
+ [
190
+ 0.04312920570373535,
191
+ 0.6236447095870972,
192
+ 1.035210371017456
193
+ ],
194
+ [
195
+ 0.04312920570373535,
196
+ 0.32685256004333496,
197
+ 1.2817351818084717
198
+ ],
199
+ [
200
+ 0.04312920570373535,
201
+ 0.32685256004333496,
202
+ 1.035210371017456
203
+ ]
204
+ ],
205
+ "center": {
206
+ "x": 0.3046964406967163,
207
+ "y": 0.47524863481521606,
208
+ "z": 1.1584727764129639
209
+ },
210
+ "size": {
211
+ "x": 0.5231344699859619,
212
+ "y": 0.2967921495437622,
213
+ "z": 0.24652481079101562
214
+ }
215
+ },
216
+ "objectOrientedBoundingBox": null
217
+ }
218
+ },
219
+ {
220
+ "objectId": "Desk|-00.79|+00.00|-01.03",
221
+ "object_info": {
222
+ "name": "Desk_01ca18b8",
223
+ "position": {
224
+ "x": -0.7880603075027466,
225
+ "y": 0.0004979968070983887,
226
+ "z": -1.0329155921936035
227
+ },
228
+ "rotation": {
229
+ "x": 359.33953857421875,
230
+ "y": 89.71826171875,
231
+ "z": 359.55328369140625
232
+ },
233
+ "visible": true,
234
+ "isInteractable": true,
235
+ "receptacle": true,
236
+ "toggleable": false,
237
+ "isToggled": false,
238
+ "breakable": false,
239
+ "isBroken": false,
240
+ "canFillWithLiquid": false,
241
+ "isFilledWithLiquid": false,
242
+ "fillLiquid": null,
243
+ "dirtyable": false,
244
+ "isDirty": false,
245
+ "canBeUsedUp": false,
246
+ "isUsedUp": false,
247
+ "cookable": false,
248
+ "isCooked": false,
249
+ "temperature": "RoomTemp",
250
+ "isHeatSource": false,
251
+ "isColdSource": false,
252
+ "sliceable": false,
253
+ "isSliced": false,
254
+ "openable": false,
255
+ "isOpen": false,
256
+ "openness": 0.0,
257
+ "pickupable": false,
258
+ "isPickedUp": false,
259
+ "moveable": false,
260
+ "mass": 34.0,
261
+ "salientMaterials": [
262
+ "Wood"
263
+ ],
264
+ "receptacleObjectIds": [
265
+ "CD|-01.30|+00.80|-00.31",
266
+ "CellPhone|-01.07|+00.80|-00.64",
267
+ "Pen|-01.13|+00.80|-01.24",
268
+ "Pencil|-01.16|+00.80|-01.18",
269
+ "Laptop|-01.04|+00.79|-01.51",
270
+ "Book|-00.69|+00.79|-01.72",
271
+ "CreditCard|-00.39|+00.80|-01.70",
272
+ "KeyChain|-00.55|+00.80|-01.52"
273
+ ],
274
+ "distance": 1.5807770490646362,
275
+ "objectType": "Desk",
276
+ "objectId": "Desk|-00.79|+00.00|-01.03",
277
+ "assetId": "Desk_302_1",
278
+ "parentReceptacles": [
279
+ "Chair|-00.68|+00.00|-01.33",
280
+ "Floor|+00.00|+00.00|+00.00"
281
+ ],
282
+ "controlledObjects": null,
283
+ "isMoving": false,
284
+ "axisAlignedBoundingBox": {
285
+ "cornerPoints": [
286
+ [
287
+ -0.1982954740524292,
288
+ 0.8021975755691528,
289
+ -0.16861772537231445
290
+ ],
291
+ [
292
+ -0.1982954740524292,
293
+ 0.8021975755691528,
294
+ -1.9000144004821777
295
+ ],
296
+ [
297
+ -0.1982954740524292,
298
+ -2.193450927734375e-05,
299
+ -0.16861772537231445
300
+ ],
301
+ [
302
+ -0.1982954740524292,
303
+ -2.193450927734375e-05,
304
+ -1.9000144004821777
305
+ ],
306
+ [
307
+ -1.397121787071228,
308
+ 0.8021975755691528,
309
+ -0.16861772537231445
310
+ ],
311
+ [
312
+ -1.397121787071228,
313
+ 0.8021975755691528,
314
+ -1.9000144004821777
315
+ ],
316
+ [
317
+ -1.397121787071228,
318
+ -2.193450927734375e-05,
319
+ -0.16861772537231445
320
+ ],
321
+ [
322
+ -1.397121787071228,
323
+ -2.193450927734375e-05,
324
+ -1.9000144004821777
325
+ ]
326
+ ],
327
+ "center": {
328
+ "x": -0.7977086305618286,
329
+ "y": 0.40108782052993774,
330
+ "z": -1.034316062927246
331
+ },
332
+ "size": {
333
+ "x": 1.1988263130187988,
334
+ "y": 0.8022195100784302,
335
+ "z": 1.7313966751098633
336
+ }
337
+ },
338
+ "objectOrientedBoundingBox": null
339
+ }
340
+ },
341
+ {
342
+ "objectId": "Mirror|-01.38|+01.57|+00.51",
343
+ "object_info": {
344
+ "name": "Mirror_db756642",
345
+ "position": {
346
+ "x": -1.3839999437332153,
347
+ "y": 1.565000057220459,
348
+ "z": 0.5120000243186951
349
+ },
350
+ "rotation": {
351
+ "x": -0.0,
352
+ "y": 270.0,
353
+ "z": 0.0
354
+ },
355
+ "visible": false,
356
+ "isInteractable": false,
357
+ "receptacle": false,
358
+ "toggleable": false,
359
+ "isToggled": false,
360
+ "breakable": true,
361
+ "isBroken": false,
362
+ "canFillWithLiquid": false,
363
+ "isFilledWithLiquid": false,
364
+ "fillLiquid": null,
365
+ "dirtyable": true,
366
+ "isDirty": false,
367
+ "canBeUsedUp": false,
368
+ "isUsedUp": false,
369
+ "cookable": false,
370
+ "isCooked": false,
371
+ "temperature": "RoomTemp",
372
+ "isHeatSource": false,
373
+ "isColdSource": false,
374
+ "sliceable": false,
375
+ "isSliced": false,
376
+ "openable": false,
377
+ "isOpen": false,
378
+ "openness": 0.0,
379
+ "pickupable": false,
380
+ "isPickedUp": false,
381
+ "moveable": false,
382
+ "mass": 0.0,
383
+ "salientMaterials": null,
384
+ "receptacleObjectIds": null,
385
+ "distance": 1.618177056312561,
386
+ "objectType": "Mirror",
387
+ "objectId": "Mirror|-01.38|+01.57|+00.51",
388
+ "assetId": "",
389
+ "parentReceptacles": null,
390
+ "controlledObjects": null,
391
+ "isMoving": false,
392
+ "axisAlignedBoundingBox": {
393
+ "cornerPoints": [
394
+ [
395
+ -1.33620023727417,
396
+ 1.847362995147705,
397
+ 0.7824673652648926
398
+ ],
399
+ [
400
+ -1.33620023727417,
401
+ 1.847362995147705,
402
+ 0.22343194484710693
403
+ ],
404
+ [
405
+ -1.33620023727417,
406
+ 1.1790292263031006,
407
+ 0.7824673652648926
408
+ ],
409
+ [
410
+ -1.33620023727417,
411
+ 1.1790292263031006,
412
+ 0.22343194484710693
413
+ ],
414
+ [
415
+ -1.386000156402588,
416
+ 1.847362995147705,
417
+ 0.7824673652648926
418
+ ],
419
+ [
420
+ -1.386000156402588,
421
+ 1.847362995147705,
422
+ 0.22343194484710693
423
+ ],
424
+ [
425
+ -1.386000156402588,
426
+ 1.1790292263031006,
427
+ 0.7824673652648926
428
+ ],
429
+ [
430
+ -1.386000156402588,
431
+ 1.1790292263031006,
432
+ 0.22343194484710693
433
+ ]
434
+ ],
435
+ "center": {
436
+ "x": -1.361100196838379,
437
+ "y": 1.5131961107254028,
438
+ "z": 0.5029496550559998
439
+ },
440
+ "size": {
441
+ "x": 0.04979991912841797,
442
+ "y": 0.6683337688446045,
443
+ "z": 0.5590354204177856
444
+ }
445
+ },
446
+ "objectOrientedBoundingBox": null
447
+ }
448
+ },
449
+ {
450
+ "objectId": "Shelf|-01.29|+01.45|-00.60",
451
+ "object_info": {
452
+ "name": "Shelf_2f16b4c5",
453
+ "position": {
454
+ "x": -1.2868000268936157,
455
+ "y": 1.4511127471923828,
456
+ "z": -0.6029999852180481
457
+ },
458
+ "rotation": {
459
+ "x": -0.0,
460
+ "y": 0.0,
461
+ "z": 0.0
462
+ },
463
+ "visible": true,
464
+ "isInteractable": true,
465
+ "receptacle": true,
466
+ "toggleable": false,
467
+ "isToggled": false,
468
+ "breakable": false,
469
+ "isBroken": false,
470
+ "canFillWithLiquid": false,
471
+ "isFilledWithLiquid": false,
472
+ "fillLiquid": null,
473
+ "dirtyable": false,
474
+ "isDirty": false,
475
+ "canBeUsedUp": false,
476
+ "isUsedUp": false,
477
+ "cookable": false,
478
+ "isCooked": false,
479
+ "temperature": "RoomTemp",
480
+ "isHeatSource": false,
481
+ "isColdSource": false,
482
+ "sliceable": false,
483
+ "isSliced": false,
484
+ "openable": false,
485
+ "isOpen": false,
486
+ "openness": 0.0,
487
+ "pickupable": false,
488
+ "isPickedUp": false,
489
+ "moveable": false,
490
+ "mass": 0.0,
491
+ "salientMaterials": null,
492
+ "receptacleObjectIds": [],
493
+ "distance": 1.5238399505615234,
494
+ "objectType": "Shelf",
495
+ "objectId": "Shelf|-01.29|+01.45|-00.60",
496
+ "assetId": "",
497
+ "parentReceptacles": null,
498
+ "controlledObjects": null,
499
+ "isMoving": false,
500
+ "axisAlignedBoundingBox": {
501
+ "cornerPoints": [
502
+ [
503
+ -1.1771008968353271,
504
+ 1.7801129817962646,
505
+ -0.2451193928718567
506
+ ],
507
+ [
508
+ -1.1771008968353271,
509
+ 1.7801129817962646,
510
+ -0.9555280804634094
511
+ ],
512
+ [
513
+ -1.1771008968353271,
514
+ 1.4524810314178467,
515
+ -0.2451193928718567
516
+ ],
517
+ [
518
+ -1.1771008968353271,
519
+ 1.4524810314178467,
520
+ -0.9555280804634094
521
+ ],
522
+ [
523
+ -1.3916823863983154,
524
+ 1.7801129817962646,
525
+ -0.2451193928718567
526
+ ],
527
+ [
528
+ -1.3916823863983154,
529
+ 1.7801129817962646,
530
+ -0.9555280804634094
531
+ ],
532
+ [
533
+ -1.3916823863983154,
534
+ 1.4524810314178467,
535
+ -0.2451193928718567
536
+ ],
537
+ [
538
+ -1.3916823863983154,
539
+ 1.4524810314178467,
540
+ -0.9555280804634094
541
+ ]
542
+ ],
543
+ "center": {
544
+ "x": -1.2843916416168213,
545
+ "y": 1.6162970066070557,
546
+ "z": -0.6003237366676331
547
+ },
548
+ "size": {
549
+ "x": 0.21458148956298828,
550
+ "y": 0.32763195037841797,
551
+ "z": 0.7104086875915527
552
+ }
553
+ },
554
+ "objectOrientedBoundingBox": null
555
+ }
556
+ },
557
+ {
558
+ "objectId": "LightSwitch|+00.01|+01.32|+01.50",
559
+ "object_info": {
560
+ "name": "LightSwitch_91f60c59",
561
+ "position": {
562
+ "x": 0.010999999940395355,
563
+ "y": 1.315000057220459,
564
+ "z": 1.4999998807907104
565
+ },
566
+ "rotation": {
567
+ "x": -0.0,
568
+ "y": 180.0000762939453,
569
+ "z": 0.0
570
+ },
571
+ "visible": false,
572
+ "isInteractable": false,
573
+ "receptacle": false,
574
+ "toggleable": true,
575
+ "isToggled": true,
576
+ "breakable": false,
577
+ "isBroken": false,
578
+ "canFillWithLiquid": false,
579
+ "isFilledWithLiquid": false,
580
+ "fillLiquid": null,
581
+ "dirtyable": false,
582
+ "isDirty": false,
583
+ "canBeUsedUp": false,
584
+ "isUsedUp": false,
585
+ "cookable": false,
586
+ "isCooked": false,
587
+ "temperature": "RoomTemp",
588
+ "isHeatSource": false,
589
+ "isColdSource": false,
590
+ "sliceable": false,
591
+ "isSliced": false,
592
+ "openable": false,
593
+ "isOpen": false,
594
+ "openness": 0.0,
595
+ "pickupable": false,
596
+ "isPickedUp": false,
597
+ "moveable": false,
598
+ "mass": 0.0,
599
+ "salientMaterials": null,
600
+ "receptacleObjectIds": null,
601
+ "distance": 1.5561225414276123,
602
+ "objectType": "LightSwitch",
603
+ "objectId": "LightSwitch|+00.01|+01.32|+01.50",
604
+ "assetId": "Light_Switch_2",
605
+ "parentReceptacles": null,
606
+ "controlledObjects": [],
607
+ "isMoving": false,
608
+ "axisAlignedBoundingBox": {
609
+ "cornerPoints": [
610
+ [
611
+ 0.06987692415714264,
612
+ 1.3756191730499268,
613
+ 1.5
614
+ ],
615
+ [
616
+ 0.06987692415714264,
617
+ 1.3756191730499268,
618
+ 1.4692409038543701
619
+ ],
620
+ [
621
+ 0.06987692415714264,
622
+ 1.2543809413909912,
623
+ 1.5
624
+ ],
625
+ [
626
+ 0.06987692415714264,
627
+ 1.2543809413909912,
628
+ 1.4692409038543701
629
+ ],
630
+ [
631
+ -0.04787696152925491,
632
+ 1.3756191730499268,
633
+ 1.5
634
+ ],
635
+ [
636
+ -0.04787696152925491,
637
+ 1.3756191730499268,
638
+ 1.4692409038543701
639
+ ],
640
+ [
641
+ -0.04787696152925491,
642
+ 1.2543809413909912,
643
+ 1.5
644
+ ],
645
+ [
646
+ -0.04787696152925491,
647
+ 1.2543809413909912,
648
+ 1.4692409038543701
649
+ ]
650
+ ],
651
+ "center": {
652
+ "x": 0.010999981313943863,
653
+ "y": 1.315000057220459,
654
+ "z": 1.484620451927185
655
+ },
656
+ "size": {
657
+ "x": 0.11775388568639755,
658
+ "y": 0.12123823165893555,
659
+ "z": 0.030759096145629883
660
+ }
661
+ },
662
+ "objectOrientedBoundingBox": null
663
+ }
664
+ },
665
+ {
666
+ "objectId": "SideTable|+00.30|00.00|+01.23",
667
+ "object_info": {
668
+ "name": "SideTable_e5d2b9bb",
669
+ "position": {
670
+ "x": 0.3049811124801636,
671
+ "y": -0.001862645149230957,
672
+ "z": 1.2259849309921265
673
+ },
674
+ "rotation": {
675
+ "x": -0.001957286847755313,
676
+ "y": 180.0015106201172,
677
+ "z": 0.0008084956207312644
678
+ },
679
+ "visible": false,
680
+ "isInteractable": false,
681
+ "receptacle": true,
682
+ "toggleable": false,
683
+ "isToggled": false,
684
+ "breakable": false,
685
+ "isBroken": false,
686
+ "canFillWithLiquid": false,
687
+ "isFilledWithLiquid": false,
688
+ "fillLiquid": null,
689
+ "dirtyable": false,
690
+ "isDirty": false,
691
+ "canBeUsedUp": false,
692
+ "isUsedUp": false,
693
+ "cookable": false,
694
+ "isCooked": false,
695
+ "temperature": "RoomTemp",
696
+ "isHeatSource": false,
697
+ "isColdSource": false,
698
+ "sliceable": false,
699
+ "isSliced": false,
700
+ "openable": false,
701
+ "isOpen": false,
702
+ "openness": 0.0,
703
+ "pickupable": false,
704
+ "isPickedUp": false,
705
+ "moveable": true,
706
+ "mass": 11.0,
707
+ "salientMaterials": [
708
+ "Metal"
709
+ ],
710
+ "receptacleObjectIds": [
711
+ "DeskLamp|+00.47|+00.67|+01.35"
712
+ ],
713
+ "distance": 1.5528078079223633,
714
+ "objectType": "SideTable",
715
+ "objectId": "SideTable|+00.30|00.00|+01.23",
716
+ "assetId": "Side_Table_302_1_1",
717
+ "parentReceptacles": [
718
+ "Floor|+00.00|+00.00|+00.00"
719
+ ],
720
+ "controlledObjects": null,
721
+ "isMoving": false,
722
+ "axisAlignedBoundingBox": {
723
+ "cornerPoints": [
724
+ [
725
+ 0.6161160469055176,
726
+ 0.6686114072799683,
727
+ 1.4148297309875488
728
+ ],
729
+ [
730
+ 0.6161160469055176,
731
+ 0.6686114072799683,
732
+ 1.0491373538970947
733
+ ],
734
+ [
735
+ 0.6161160469055176,
736
+ -4.827976226806641e-06,
737
+ 1.4148297309875488
738
+ ],
739
+ [
740
+ 0.6161160469055176,
741
+ -4.827976226806641e-06,
742
+ 1.0491373538970947
743
+ ],
744
+ [
745
+ -0.0061644017696380615,
746
+ 0.6686114072799683,
747
+ 1.4148297309875488
748
+ ],
749
+ [
750
+ -0.0061644017696380615,
751
+ 0.6686114072799683,
752
+ 1.0491373538970947
753
+ ],
754
+ [
755
+ -0.0061644017696380615,
756
+ -4.827976226806641e-06,
757
+ 1.4148297309875488
758
+ ],
759
+ [
760
+ -0.0061644017696380615,
761
+ -4.827976226806641e-06,
762
+ 1.0491373538970947
763
+ ]
764
+ ],
765
+ "center": {
766
+ "x": 0.30497583746910095,
767
+ "y": 0.3343032896518707,
768
+ "z": 1.2319835424423218
769
+ },
770
+ "size": {
771
+ "x": 0.622280478477478,
772
+ "y": 0.6686162352561951,
773
+ "z": 0.3656923770904541
774
+ }
775
+ },
776
+ "objectOrientedBoundingBox": {
777
+ "cornerPoints": [
778
+ [
779
+ -0.006164729595184326,
780
+ -3.1387899070978165e-06,
781
+ 1.0491620302200317
782
+ ],
783
+ [
784
+ 0.6161027550697327,
785
+ -4.147063009440899e-06,
786
+ 1.0491406917572021
787
+ ],
788
+ [
789
+ 0.6161153316497803,
790
+ -2.221902832388878e-06,
791
+ 1.4148083925247192
792
+ ],
793
+ [
794
+ -0.006152153015136719,
795
+ -1.2136297300457954e-06,
796
+ 1.4148298501968384
797
+ ],
798
+ [
799
+ -0.006163656711578369,
800
+ 0.6686108112335205,
801
+ 1.0491585731506348
802
+ ],
803
+ [
804
+ 0.6161038279533386,
805
+ 0.6686098575592041,
806
+ 1.0491371154785156
807
+ ],
808
+ [
809
+ 0.6161164045333862,
810
+ 0.6686118245124817,
811
+ 1.4148049354553223
812
+ ],
813
+ [
814
+ -0.006151080131530762,
815
+ 0.6686127781867981,
816
+ 1.4148262739181519
817
+ ]
818
+ ]
819
+ }
820
+ }
821
+ },
822
+ {
823
+ "objectId": "DeskLamp|+00.47|+00.67|+01.35",
824
+ "object_info": {
825
+ "name": "DeskLamp_7c4fa288",
826
+ "position": {
827
+ "x": 0.47372183203697205,
828
+ "y": 0.6693316698074341,
829
+ "z": 1.3501641750335693
830
+ },
831
+ "rotation": {
832
+ "x": 0.05758395791053772,
833
+ "y": 359.978515625,
834
+ "z": 0.018180834129452705
835
+ },
836
+ "visible": false,
837
+ "isInteractable": false,
838
+ "receptacle": false,
839
+ "toggleable": true,
840
+ "isToggled": true,
841
+ "breakable": false,
842
+ "isBroken": false,
843
+ "canFillWithLiquid": false,
844
+ "isFilledWithLiquid": false,
845
+ "fillLiquid": null,
846
+ "dirtyable": false,
847
+ "isDirty": false,
848
+ "canBeUsedUp": false,
849
+ "isUsedUp": false,
850
+ "cookable": false,
851
+ "isCooked": false,
852
+ "temperature": "RoomTemp",
853
+ "isHeatSource": false,
854
+ "isColdSource": false,
855
+ "sliceable": false,
856
+ "isSliced": false,
857
+ "openable": false,
858
+ "isOpen": false,
859
+ "openness": 0.0,
860
+ "pickupable": false,
861
+ "isPickedUp": false,
862
+ "moveable": true,
863
+ "mass": 2.059999942779541,
864
+ "salientMaterials": [
865
+ "Metal",
866
+ "Fabric"
867
+ ],
868
+ "receptacleObjectIds": null,
869
+ "distance": 1.4494915008544922,
870
+ "objectType": "DeskLamp",
871
+ "objectId": "DeskLamp|+00.47|+00.67|+01.35",
872
+ "assetId": "Desk_Lamp_2",
873
+ "parentReceptacles": [
874
+ "SideTable|+00.30|00.00|+01.23"
875
+ ],
876
+ "controlledObjects": [],
877
+ "isMoving": false,
878
+ "axisAlignedBoundingBox": {
879
+ "cornerPoints": [
880
+ [
881
+ 0.600147008895874,
882
+ 1.0706360340118408,
883
+ 1.4938673973083496
884
+ ],
885
+ [
886
+ 0.600147008895874,
887
+ 1.0706360340118408,
888
+ 1.2075088024139404
889
+ ],
890
+ [
891
+ 0.600147008895874,
892
+ 0.6685914993286133,
893
+ 1.4938673973083496
894
+ ],
895
+ [
896
+ 0.600147008895874,
897
+ 0.6685914993286133,
898
+ 1.2075088024139404
899
+ ],
900
+ [
901
+ 0.3456754684448242,
902
+ 1.0706360340118408,
903
+ 1.4938673973083496
904
+ ],
905
+ [
906
+ 0.3456754684448242,
907
+ 1.0706360340118408,
908
+ 1.2075088024139404
909
+ ],
910
+ [
911
+ 0.3456754684448242,
912
+ 0.6685914993286133,
913
+ 1.4938673973083496
914
+ ],
915
+ [
916
+ 0.3456754684448242,
917
+ 0.6685914993286133,
918
+ 1.2075088024139404
919
+ ]
920
+ ],
921
+ "center": {
922
+ "x": 0.4729112386703491,
923
+ "y": 0.869613766670227,
924
+ "z": 1.350688099861145
925
+ },
926
+ "size": {
927
+ "x": 0.2544715404510498,
928
+ "y": 0.40204453468322754,
929
+ "z": 0.2863585948944092
930
+ }
931
+ },
932
+ "objectOrientedBoundingBox": {
933
+ "cornerPoints": [
934
+ [
935
+ 0.6001302599906921,
936
+ 0.6685873866081238,
937
+ 1.4937670230865479
938
+ ],
939
+ [
940
+ 0.34568607807159424,
941
+ 0.668555736541748,
942
+ 1.4937102794647217
943
+ ],
944
+ [
945
+ 0.3457498848438263,
946
+ 0.6687047481536865,
947
+ 1.2073514461517334
948
+ ],
949
+ [
950
+ 0.6001940965652466,
951
+ 0.668736457824707,
952
+ 1.20740807056427
953
+ ],
954
+ [
955
+ 0.6000802516937256,
956
+ 1.0705513954162598,
957
+ 1.4939762353897095
958
+ ],
959
+ [
960
+ 0.3456360101699829,
961
+ 1.0705196857452393,
962
+ 1.4939194917678833
963
+ ],
964
+ [
965
+ 0.34569984674453735,
966
+ 1.0706686973571777,
967
+ 1.207560658454895
968
+ ],
969
+ [
970
+ 0.6001440286636353,
971
+ 1.0707004070281982,
972
+ 1.2076174020767212
973
+ ]
974
+ ]
975
+ }
976
+ }
977
+ }
978
+ ],
979
+ "Agent": {
980
+ "agent_position": {
981
+ "x": 0.10000000149011612,
982
+ "y": 0.9009991884231567,
983
+ "z": -0.4000000059604645
984
+ },
985
+ "agent_rotation": {
986
+ "x": -0.0,
987
+ "y": 320.9999694824219,
988
+ "z": 0.0
989
+ },
990
+ "agent_cameraHorizon": 0.0,
991
+ "agent_isStanding": true,
992
+ "agent_inHighFrictionArea": false
993
+ },
994
+ "camera_info": {
995
+ "cameraPosition": {
996
+ "x": 0.10000000149011612,
997
+ "y": 1.5759992599487305,
998
+ "z": -0.4000000059604645
999
+ },
1000
+ "cameraOrthSize": -1.0,
1001
+ "fov": 90.0
1002
+ },
1003
+ "common_object": [
1004
+ "Mirror|-01.38|+01.57|+00.51",
1005
+ "Shelf|-01.29|+01.81|-00.60",
1006
+ "Desk|-00.79|+00.00|-01.03",
1007
+ "Shelf|-01.29|+01.45|-00.60"
1008
+ ],
1009
+ "different_object": [
1010
+ "SideTable|+00.30|00.00|+01.23",
1011
+ "DeskLamp|+00.47|+00.67|+01.35",
1012
+ "LightSwitch|+00.01|+01.32|+01.50",
1013
+ "Drawer|+00.30|+00.46|+01.16"
1014
+ ]
1015
+ }
train/FloorPlan302/1/0_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f3eeb3120fc147b6e27616b1e3bf65cdc4f86867c7cdefcb24543fb95dcf3156
3
+ size 3145856
train/FloorPlan302/1/0_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f1787ea817c5c08c851315ce812ddace9b610adf53e21d0b4b95c64301fc4b35
3
+ size 2359424
train/FloorPlan302/1/1.json ADDED
@@ -0,0 +1,1170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "Shelf|-01.29|+01.45|-01.34",
5
+ "object_info": {
6
+ "name": "Shelf_54cc751e",
7
+ "position": {
8
+ "x": -1.2868000268936157,
9
+ "y": 1.4511127471923828,
10
+ "z": -1.343999981880188
11
+ },
12
+ "rotation": {
13
+ "x": -0.0,
14
+ "y": 0.0,
15
+ "z": 0.0
16
+ },
17
+ "visible": false,
18
+ "isInteractable": false,
19
+ "receptacle": true,
20
+ "toggleable": false,
21
+ "isToggled": false,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": false,
39
+ "isOpen": false,
40
+ "openness": 0.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": false,
44
+ "mass": 0.0,
45
+ "salientMaterials": null,
46
+ "receptacleObjectIds": [],
47
+ "distance": 1.9403132200241089,
48
+ "objectType": "Shelf",
49
+ "objectId": "Shelf|-01.29|+01.45|-01.34",
50
+ "assetId": "",
51
+ "parentReceptacles": null,
52
+ "controlledObjects": null,
53
+ "isMoving": false,
54
+ "axisAlignedBoundingBox": {
55
+ "cornerPoints": [
56
+ [
57
+ -1.1771008968353271,
58
+ 1.7803993225097656,
59
+ -0.9864070415496826
60
+ ],
61
+ [
62
+ -1.1771008968353271,
63
+ 1.7803993225097656,
64
+ -1.7022664546966553
65
+ ],
66
+ [
67
+ -1.1771008968353271,
68
+ 1.4527649879455566,
69
+ -0.9864070415496826
70
+ ],
71
+ [
72
+ -1.1771008968353271,
73
+ 1.4527649879455566,
74
+ -1.7022664546966553
75
+ ],
76
+ [
77
+ -1.3916823863983154,
78
+ 1.7803993225097656,
79
+ -0.9864070415496826
80
+ ],
81
+ [
82
+ -1.3916823863983154,
83
+ 1.7803993225097656,
84
+ -1.7022664546966553
85
+ ],
86
+ [
87
+ -1.3916823863983154,
88
+ 1.4527649879455566,
89
+ -0.9864070415496826
90
+ ],
91
+ [
92
+ -1.3916823863983154,
93
+ 1.4527649879455566,
94
+ -1.7022664546966553
95
+ ]
96
+ ],
97
+ "center": {
98
+ "x": -1.2843916416168213,
99
+ "y": 1.6165821552276611,
100
+ "z": -1.344336748123169
101
+ },
102
+ "size": {
103
+ "x": 0.21458148956298828,
104
+ "y": 0.327634334564209,
105
+ "z": 0.7158594131469727
106
+ }
107
+ },
108
+ "objectOrientedBoundingBox": null
109
+ }
110
+ },
111
+ {
112
+ "objectId": "Shelf|-01.29|+01.81|-01.34",
113
+ "object_info": {
114
+ "name": "Shelf_71819892",
115
+ "position": {
116
+ "x": -1.2868000268936157,
117
+ "y": 1.8143999576568604,
118
+ "z": -1.343999981880188
119
+ },
120
+ "rotation": {
121
+ "x": -0.0,
122
+ "y": 0.0,
123
+ "z": 0.0
124
+ },
125
+ "visible": false,
126
+ "isInteractable": false,
127
+ "receptacle": true,
128
+ "toggleable": false,
129
+ "isToggled": false,
130
+ "breakable": false,
131
+ "isBroken": false,
132
+ "canFillWithLiquid": false,
133
+ "isFilledWithLiquid": false,
134
+ "fillLiquid": null,
135
+ "dirtyable": false,
136
+ "isDirty": false,
137
+ "canBeUsedUp": false,
138
+ "isUsedUp": false,
139
+ "cookable": false,
140
+ "isCooked": false,
141
+ "temperature": "RoomTemp",
142
+ "isHeatSource": false,
143
+ "isColdSource": false,
144
+ "sliceable": false,
145
+ "isSliced": false,
146
+ "openable": false,
147
+ "isOpen": false,
148
+ "openness": 0.0,
149
+ "pickupable": false,
150
+ "isPickedUp": false,
151
+ "moveable": false,
152
+ "mass": 0.0,
153
+ "salientMaterials": null,
154
+ "receptacleObjectIds": [],
155
+ "distance": 2.072798013687134,
156
+ "objectType": "Shelf",
157
+ "objectId": "Shelf|-01.29|+01.81|-01.34",
158
+ "assetId": "",
159
+ "parentReceptacles": null,
160
+ "controlledObjects": null,
161
+ "isMoving": false,
162
+ "axisAlignedBoundingBox": {
163
+ "cornerPoints": [
164
+ [
165
+ -1.1771008968353271,
166
+ 2.14180064201355,
167
+ -0.9862945079803467
168
+ ],
169
+ [
170
+ -1.1771008968353271,
171
+ 2.14180064201355,
172
+ -1.7021536827087402
173
+ ],
174
+ [
175
+ -1.1771008968353271,
176
+ 1.8141663074493408,
177
+ -0.9862945079803467
178
+ ],
179
+ [
180
+ -1.1771008968353271,
181
+ 1.8141663074493408,
182
+ -1.7021536827087402
183
+ ],
184
+ [
185
+ -1.3916823863983154,
186
+ 2.14180064201355,
187
+ -0.9862945079803467
188
+ ],
189
+ [
190
+ -1.3916823863983154,
191
+ 2.14180064201355,
192
+ -1.7021536827087402
193
+ ],
194
+ [
195
+ -1.3916823863983154,
196
+ 1.8141663074493408,
197
+ -0.9862945079803467
198
+ ],
199
+ [
200
+ -1.3916823863983154,
201
+ 1.8141663074493408,
202
+ -1.7021536827087402
203
+ ]
204
+ ],
205
+ "center": {
206
+ "x": -1.2843916416168213,
207
+ "y": 1.9779834747314453,
208
+ "z": -1.3442240953445435
209
+ },
210
+ "size": {
211
+ "x": 0.21458148956298828,
212
+ "y": 0.327634334564209,
213
+ "z": 0.7158591747283936
214
+ }
215
+ },
216
+ "objectOrientedBoundingBox": null
217
+ }
218
+ },
219
+ {
220
+ "objectId": "Shelf|-01.29|+01.81|-00.60",
221
+ "object_info": {
222
+ "name": "Shelf_a7d9ee9f",
223
+ "position": {
224
+ "x": -1.2868000268936157,
225
+ "y": 1.8143999576568604,
226
+ "z": -0.6029999852180481
227
+ },
228
+ "rotation": {
229
+ "x": -0.0,
230
+ "y": 0.0,
231
+ "z": 0.0
232
+ },
233
+ "visible": true,
234
+ "isInteractable": true,
235
+ "receptacle": true,
236
+ "toggleable": false,
237
+ "isToggled": false,
238
+ "breakable": false,
239
+ "isBroken": false,
240
+ "canFillWithLiquid": false,
241
+ "isFilledWithLiquid": false,
242
+ "fillLiquid": null,
243
+ "dirtyable": false,
244
+ "isDirty": false,
245
+ "canBeUsedUp": false,
246
+ "isUsedUp": false,
247
+ "cookable": false,
248
+ "isCooked": false,
249
+ "temperature": "RoomTemp",
250
+ "isHeatSource": false,
251
+ "isColdSource": false,
252
+ "sliceable": false,
253
+ "isSliced": false,
254
+ "openable": false,
255
+ "isOpen": false,
256
+ "openness": 0.0,
257
+ "pickupable": false,
258
+ "isPickedUp": false,
259
+ "moveable": false,
260
+ "mass": 0.0,
261
+ "salientMaterials": null,
262
+ "receptacleObjectIds": [],
263
+ "distance": 1.689308762550354,
264
+ "objectType": "Shelf",
265
+ "objectId": "Shelf|-01.29|+01.81|-00.60",
266
+ "assetId": "",
267
+ "parentReceptacles": null,
268
+ "controlledObjects": null,
269
+ "isMoving": false,
270
+ "axisAlignedBoundingBox": {
271
+ "cornerPoints": [
272
+ [
273
+ -1.1771008968353271,
274
+ 2.141514301300049,
275
+ -0.24500679969787598
276
+ ],
277
+ [
278
+ -1.1771008968353271,
279
+ 2.141514301300049,
280
+ -0.9554154872894287
281
+ ],
282
+ [
283
+ -1.1771008968353271,
284
+ 1.8138823509216309,
285
+ -0.24500679969787598
286
+ ],
287
+ [
288
+ -1.1771008968353271,
289
+ 1.8138823509216309,
290
+ -0.9554154872894287
291
+ ],
292
+ [
293
+ -1.3916823863983154,
294
+ 2.141514301300049,
295
+ -0.24500679969787598
296
+ ],
297
+ [
298
+ -1.3916823863983154,
299
+ 2.141514301300049,
300
+ -0.9554154872894287
301
+ ],
302
+ [
303
+ -1.3916823863983154,
304
+ 1.8138823509216309,
305
+ -0.24500679969787598
306
+ ],
307
+ [
308
+ -1.3916823863983154,
309
+ 1.8138823509216309,
310
+ -0.9554154872894287
311
+ ]
312
+ ],
313
+ "center": {
314
+ "x": -1.2843916416168213,
315
+ "y": 1.9776983261108398,
316
+ "z": -0.6002111434936523
317
+ },
318
+ "size": {
319
+ "x": 0.21458148956298828,
320
+ "y": 0.32763195037841797,
321
+ "z": 0.7104086875915527
322
+ }
323
+ },
324
+ "objectOrientedBoundingBox": null
325
+ }
326
+ },
327
+ {
328
+ "objectId": "Desk|-00.79|+00.00|-01.03",
329
+ "object_info": {
330
+ "name": "Desk_01ca18b8",
331
+ "position": {
332
+ "x": -0.7880603075027466,
333
+ "y": 0.0004979968070983887,
334
+ "z": -1.0329155921936035
335
+ },
336
+ "rotation": {
337
+ "x": 359.33953857421875,
338
+ "y": 89.71826171875,
339
+ "z": 359.55328369140625
340
+ },
341
+ "visible": true,
342
+ "isInteractable": true,
343
+ "receptacle": true,
344
+ "toggleable": false,
345
+ "isToggled": false,
346
+ "breakable": false,
347
+ "isBroken": false,
348
+ "canFillWithLiquid": false,
349
+ "isFilledWithLiquid": false,
350
+ "fillLiquid": null,
351
+ "dirtyable": false,
352
+ "isDirty": false,
353
+ "canBeUsedUp": false,
354
+ "isUsedUp": false,
355
+ "cookable": false,
356
+ "isCooked": false,
357
+ "temperature": "RoomTemp",
358
+ "isHeatSource": false,
359
+ "isColdSource": false,
360
+ "sliceable": false,
361
+ "isSliced": false,
362
+ "openable": false,
363
+ "isOpen": false,
364
+ "openness": 0.0,
365
+ "pickupable": false,
366
+ "isPickedUp": false,
367
+ "moveable": false,
368
+ "mass": 34.0,
369
+ "salientMaterials": [
370
+ "Wood"
371
+ ],
372
+ "receptacleObjectIds": [
373
+ "CD|-01.30|+00.80|-00.31",
374
+ "CellPhone|-01.07|+00.80|-00.64",
375
+ "Pen|-01.13|+00.80|-01.24",
376
+ "Pencil|-01.16|+00.80|-01.18",
377
+ "Laptop|-01.04|+00.79|-01.51",
378
+ "Book|-00.69|+00.79|-01.72",
379
+ "CreditCard|-00.39|+00.80|-01.70",
380
+ "KeyChain|-00.55|+00.80|-01.52"
381
+ ],
382
+ "distance": 1.5807770490646362,
383
+ "objectType": "Desk",
384
+ "objectId": "Desk|-00.79|+00.00|-01.03",
385
+ "assetId": "Desk_302_1",
386
+ "parentReceptacles": [
387
+ "Chair|-00.68|+00.00|-01.33",
388
+ "Floor|+00.00|+00.00|+00.00"
389
+ ],
390
+ "controlledObjects": null,
391
+ "isMoving": false,
392
+ "axisAlignedBoundingBox": {
393
+ "cornerPoints": [
394
+ [
395
+ -0.1982954740524292,
396
+ 0.8021975755691528,
397
+ -0.16861772537231445
398
+ ],
399
+ [
400
+ -0.1982954740524292,
401
+ 0.8021975755691528,
402
+ -1.9000144004821777
403
+ ],
404
+ [
405
+ -0.1982954740524292,
406
+ -2.193450927734375e-05,
407
+ -0.16861772537231445
408
+ ],
409
+ [
410
+ -0.1982954740524292,
411
+ -2.193450927734375e-05,
412
+ -1.9000144004821777
413
+ ],
414
+ [
415
+ -1.397121787071228,
416
+ 0.8021975755691528,
417
+ -0.16861772537231445
418
+ ],
419
+ [
420
+ -1.397121787071228,
421
+ 0.8021975755691528,
422
+ -1.9000144004821777
423
+ ],
424
+ [
425
+ -1.397121787071228,
426
+ -2.193450927734375e-05,
427
+ -0.16861772537231445
428
+ ],
429
+ [
430
+ -1.397121787071228,
431
+ -2.193450927734375e-05,
432
+ -1.9000144004821777
433
+ ]
434
+ ],
435
+ "center": {
436
+ "x": -0.7977086305618286,
437
+ "y": 0.40108782052993774,
438
+ "z": -1.034316062927246
439
+ },
440
+ "size": {
441
+ "x": 1.1988263130187988,
442
+ "y": 0.8022195100784302,
443
+ "z": 1.7313966751098633
444
+ }
445
+ },
446
+ "objectOrientedBoundingBox": null
447
+ }
448
+ },
449
+ {
450
+ "objectId": "Mirror|-01.38|+01.57|+00.51",
451
+ "object_info": {
452
+ "name": "Mirror_db756642",
453
+ "position": {
454
+ "x": -1.3839999437332153,
455
+ "y": 1.565000057220459,
456
+ "z": 0.5120000243186951
457
+ },
458
+ "rotation": {
459
+ "x": -0.0,
460
+ "y": 270.0,
461
+ "z": 0.0
462
+ },
463
+ "visible": false,
464
+ "isInteractable": false,
465
+ "receptacle": false,
466
+ "toggleable": false,
467
+ "isToggled": false,
468
+ "breakable": true,
469
+ "isBroken": false,
470
+ "canFillWithLiquid": false,
471
+ "isFilledWithLiquid": false,
472
+ "fillLiquid": null,
473
+ "dirtyable": true,
474
+ "isDirty": false,
475
+ "canBeUsedUp": false,
476
+ "isUsedUp": false,
477
+ "cookable": false,
478
+ "isCooked": false,
479
+ "temperature": "RoomTemp",
480
+ "isHeatSource": false,
481
+ "isColdSource": false,
482
+ "sliceable": false,
483
+ "isSliced": false,
484
+ "openable": false,
485
+ "isOpen": false,
486
+ "openness": 0.0,
487
+ "pickupable": false,
488
+ "isPickedUp": false,
489
+ "moveable": false,
490
+ "mass": 0.0,
491
+ "salientMaterials": null,
492
+ "receptacleObjectIds": null,
493
+ "distance": 1.618177056312561,
494
+ "objectType": "Mirror",
495
+ "objectId": "Mirror|-01.38|+01.57|+00.51",
496
+ "assetId": "",
497
+ "parentReceptacles": null,
498
+ "controlledObjects": null,
499
+ "isMoving": false,
500
+ "axisAlignedBoundingBox": {
501
+ "cornerPoints": [
502
+ [
503
+ -1.33620023727417,
504
+ 1.847362995147705,
505
+ 0.7824673652648926
506
+ ],
507
+ [
508
+ -1.33620023727417,
509
+ 1.847362995147705,
510
+ 0.22343194484710693
511
+ ],
512
+ [
513
+ -1.33620023727417,
514
+ 1.1790292263031006,
515
+ 0.7824673652648926
516
+ ],
517
+ [
518
+ -1.33620023727417,
519
+ 1.1790292263031006,
520
+ 0.22343194484710693
521
+ ],
522
+ [
523
+ -1.386000156402588,
524
+ 1.847362995147705,
525
+ 0.7824673652648926
526
+ ],
527
+ [
528
+ -1.386000156402588,
529
+ 1.847362995147705,
530
+ 0.22343194484710693
531
+ ],
532
+ [
533
+ -1.386000156402588,
534
+ 1.1790292263031006,
535
+ 0.7824673652648926
536
+ ],
537
+ [
538
+ -1.386000156402588,
539
+ 1.1790292263031006,
540
+ 0.22343194484710693
541
+ ]
542
+ ],
543
+ "center": {
544
+ "x": -1.361100196838379,
545
+ "y": 1.5131961107254028,
546
+ "z": 0.5029496550559998
547
+ },
548
+ "size": {
549
+ "x": 0.04979991912841797,
550
+ "y": 0.6683337688446045,
551
+ "z": 0.5590354204177856
552
+ }
553
+ },
554
+ "objectOrientedBoundingBox": null
555
+ }
556
+ },
557
+ {
558
+ "objectId": "Shelf|-01.29|+01.45|-00.60",
559
+ "object_info": {
560
+ "name": "Shelf_2f16b4c5",
561
+ "position": {
562
+ "x": -1.2868000268936157,
563
+ "y": 1.4511127471923828,
564
+ "z": -0.6029999852180481
565
+ },
566
+ "rotation": {
567
+ "x": -0.0,
568
+ "y": 0.0,
569
+ "z": 0.0
570
+ },
571
+ "visible": true,
572
+ "isInteractable": true,
573
+ "receptacle": true,
574
+ "toggleable": false,
575
+ "isToggled": false,
576
+ "breakable": false,
577
+ "isBroken": false,
578
+ "canFillWithLiquid": false,
579
+ "isFilledWithLiquid": false,
580
+ "fillLiquid": null,
581
+ "dirtyable": false,
582
+ "isDirty": false,
583
+ "canBeUsedUp": false,
584
+ "isUsedUp": false,
585
+ "cookable": false,
586
+ "isCooked": false,
587
+ "temperature": "RoomTemp",
588
+ "isHeatSource": false,
589
+ "isColdSource": false,
590
+ "sliceable": false,
591
+ "isSliced": false,
592
+ "openable": false,
593
+ "isOpen": false,
594
+ "openness": 0.0,
595
+ "pickupable": false,
596
+ "isPickedUp": false,
597
+ "moveable": false,
598
+ "mass": 0.0,
599
+ "salientMaterials": null,
600
+ "receptacleObjectIds": [],
601
+ "distance": 1.5238399505615234,
602
+ "objectType": "Shelf",
603
+ "objectId": "Shelf|-01.29|+01.45|-00.60",
604
+ "assetId": "",
605
+ "parentReceptacles": null,
606
+ "controlledObjects": null,
607
+ "isMoving": false,
608
+ "axisAlignedBoundingBox": {
609
+ "cornerPoints": [
610
+ [
611
+ -1.1771008968353271,
612
+ 1.7801129817962646,
613
+ -0.2451193928718567
614
+ ],
615
+ [
616
+ -1.1771008968353271,
617
+ 1.7801129817962646,
618
+ -0.9555280804634094
619
+ ],
620
+ [
621
+ -1.1771008968353271,
622
+ 1.4524810314178467,
623
+ -0.2451193928718567
624
+ ],
625
+ [
626
+ -1.1771008968353271,
627
+ 1.4524810314178467,
628
+ -0.9555280804634094
629
+ ],
630
+ [
631
+ -1.3916823863983154,
632
+ 1.7801129817962646,
633
+ -0.2451193928718567
634
+ ],
635
+ [
636
+ -1.3916823863983154,
637
+ 1.7801129817962646,
638
+ -0.9555280804634094
639
+ ],
640
+ [
641
+ -1.3916823863983154,
642
+ 1.4524810314178467,
643
+ -0.2451193928718567
644
+ ],
645
+ [
646
+ -1.3916823863983154,
647
+ 1.4524810314178467,
648
+ -0.9555280804634094
649
+ ]
650
+ ],
651
+ "center": {
652
+ "x": -1.2843916416168213,
653
+ "y": 1.6162970066070557,
654
+ "z": -0.6003237366676331
655
+ },
656
+ "size": {
657
+ "x": 0.21458148956298828,
658
+ "y": 0.32763195037841797,
659
+ "z": 0.7104086875915527
660
+ }
661
+ },
662
+ "objectOrientedBoundingBox": null
663
+ }
664
+ },
665
+ {
666
+ "objectId": "TennisRacket|-01.24|+00.32|-00.07",
667
+ "object_info": {
668
+ "name": "TennisRacket_ae57a35a",
669
+ "position": {
670
+ "x": -1.2368144989013672,
671
+ "y": 0.31803423166275024,
672
+ "z": -0.06861582398414612
673
+ },
674
+ "rotation": {
675
+ "x": 285.0068359375,
676
+ "y": 187.89158630371094,
677
+ "z": 172.5447540283203
678
+ },
679
+ "visible": false,
680
+ "isInteractable": false,
681
+ "receptacle": false,
682
+ "toggleable": false,
683
+ "isToggled": false,
684
+ "breakable": false,
685
+ "isBroken": false,
686
+ "canFillWithLiquid": false,
687
+ "isFilledWithLiquid": false,
688
+ "fillLiquid": null,
689
+ "dirtyable": false,
690
+ "isDirty": false,
691
+ "canBeUsedUp": false,
692
+ "isUsedUp": false,
693
+ "cookable": false,
694
+ "isCooked": false,
695
+ "temperature": "RoomTemp",
696
+ "isHeatSource": false,
697
+ "isColdSource": false,
698
+ "sliceable": false,
699
+ "isSliced": false,
700
+ "openable": false,
701
+ "isOpen": false,
702
+ "openness": 0.0,
703
+ "pickupable": true,
704
+ "isPickedUp": false,
705
+ "moveable": false,
706
+ "mass": 0.3100000023841858,
707
+ "salientMaterials": [
708
+ "Metal",
709
+ "Plastic"
710
+ ],
711
+ "receptacleObjectIds": null,
712
+ "distance": 1.369038462638855,
713
+ "objectType": "TennisRacket",
714
+ "objectId": "TennisRacket|-01.24|+00.32|-00.07",
715
+ "assetId": "Tennis_Racquet_1",
716
+ "parentReceptacles": [
717
+ "Floor|+00.00|+00.00|+00.00"
718
+ ],
719
+ "controlledObjects": null,
720
+ "isMoving": false,
721
+ "axisAlignedBoundingBox": {
722
+ "cornerPoints": [
723
+ [
724
+ -1.0993437767028809,
725
+ 0.6421774625778198,
726
+ 0.02435949444770813
727
+ ],
728
+ [
729
+ -1.0993437767028809,
730
+ 0.6421774625778198,
731
+ -0.17469128966331482
732
+ ],
733
+ [
734
+ -1.0993437767028809,
735
+ -0.00012359023094177246,
736
+ 0.02435949444770813
737
+ ],
738
+ [
739
+ -1.0993437767028809,
740
+ -0.00012359023094177246,
741
+ -0.17469128966331482
742
+ ],
743
+ [
744
+ -1.3617429733276367,
745
+ 0.6421774625778198,
746
+ 0.02435949444770813
747
+ ],
748
+ [
749
+ -1.3617429733276367,
750
+ 0.6421774625778198,
751
+ -0.17469128966331482
752
+ ],
753
+ [
754
+ -1.3617429733276367,
755
+ -0.00012359023094177246,
756
+ 0.02435949444770813
757
+ ],
758
+ [
759
+ -1.3617429733276367,
760
+ -0.00012359023094177246,
761
+ -0.17469128966331482
762
+ ]
763
+ ],
764
+ "center": {
765
+ "x": -1.2305433750152588,
766
+ "y": 0.3210269510746002,
767
+ "z": -0.07516589760780334
768
+ },
769
+ "size": {
770
+ "x": 0.26239919662475586,
771
+ "y": 0.642301082611084,
772
+ "z": 0.19905078411102295
773
+ }
774
+ },
775
+ "objectOrientedBoundingBox": {
776
+ "cornerPoints": [
777
+ [
778
+ -1.121067762374878,
779
+ 0.6456720232963562,
780
+ -0.13305240869522095
781
+ ],
782
+ [
783
+ -1.3766573667526245,
784
+ 0.6370794773101807,
785
+ -0.12998363375663757
786
+ ],
787
+ [
788
+ -1.3534431457519531,
789
+ 0.006373554468154907,
790
+ 0.037493109703063965
791
+ ],
792
+ [
793
+ -1.097853422164917,
794
+ 0.014966130256652832,
795
+ 0.03442433476448059
796
+ ],
797
+ [
798
+ -1.121199607849121,
799
+ 0.6342790126800537,
800
+ -0.1759394407272339
801
+ ],
802
+ [
803
+ -1.3767893314361572,
804
+ 0.6256864666938782,
805
+ -0.1728706657886505
806
+ ],
807
+ [
808
+ -1.3535751104354858,
809
+ -0.005019456148147583,
810
+ -0.005393922328948975
811
+ ],
812
+ [
813
+ -1.0979853868484497,
814
+ 0.003573119640350342,
815
+ -0.008462697267532349
816
+ ]
817
+ ]
818
+ }
819
+ }
820
+ },
821
+ {
822
+ "objectId": "CellPhone|-01.07|+00.80|-00.64",
823
+ "object_info": {
824
+ "name": "CellPhone_d688f9d9",
825
+ "position": {
826
+ "x": -1.0740317106246948,
827
+ "y": 0.7958630323410034,
828
+ "z": -0.6380314826965332
829
+ },
830
+ "rotation": {
831
+ "x": 0.006098452024161816,
832
+ "y": 146.07643127441406,
833
+ "z": 359.2025451660156
834
+ },
835
+ "visible": false,
836
+ "isInteractable": false,
837
+ "receptacle": false,
838
+ "toggleable": true,
839
+ "isToggled": false,
840
+ "breakable": true,
841
+ "isBroken": false,
842
+ "canFillWithLiquid": false,
843
+ "isFilledWithLiquid": false,
844
+ "fillLiquid": null,
845
+ "dirtyable": false,
846
+ "isDirty": false,
847
+ "canBeUsedUp": false,
848
+ "isUsedUp": false,
849
+ "cookable": false,
850
+ "isCooked": false,
851
+ "temperature": "RoomTemp",
852
+ "isHeatSource": false,
853
+ "isColdSource": false,
854
+ "sliceable": false,
855
+ "isSliced": false,
856
+ "openable": false,
857
+ "isOpen": false,
858
+ "openness": 0.0,
859
+ "pickupable": true,
860
+ "isPickedUp": false,
861
+ "moveable": false,
862
+ "mass": 0.1599999964237213,
863
+ "salientMaterials": [
864
+ "Metal",
865
+ "Glass"
866
+ ],
867
+ "receptacleObjectIds": null,
868
+ "distance": 1.2536673545837402,
869
+ "objectType": "CellPhone",
870
+ "objectId": "CellPhone|-01.07|+00.80|-00.64",
871
+ "assetId": "Cellphone_2",
872
+ "parentReceptacles": [
873
+ "Desk|-00.79|+00.00|-01.03"
874
+ ],
875
+ "controlledObjects": [],
876
+ "isMoving": false,
877
+ "axisAlignedBoundingBox": {
878
+ "cornerPoints": [
879
+ [
880
+ -0.9966343641281128,
881
+ 0.8024857640266418,
882
+ -0.549640953540802
883
+ ],
884
+ [
885
+ -0.9966343641281128,
886
+ 0.8024857640266418,
887
+ -0.7267826199531555
888
+ ],
889
+ [
890
+ -0.9966343641281128,
891
+ 0.7952550053596497,
892
+ -0.549640953540802
893
+ ],
894
+ [
895
+ -0.9966343641281128,
896
+ 0.7952550053596497,
897
+ -0.7267826199531555
898
+ ],
899
+ [
900
+ -1.1512879133224487,
901
+ 0.8024857640266418,
902
+ -0.549640953540802
903
+ ],
904
+ [
905
+ -1.1512879133224487,
906
+ 0.8024857640266418,
907
+ -0.7267826199531555
908
+ ],
909
+ [
910
+ -1.1512879133224487,
911
+ 0.7952550053596497,
912
+ -0.549640953540802
913
+ ],
914
+ [
915
+ -1.1512879133224487,
916
+ 0.7952550053596497,
917
+ -0.7267826199531555
918
+ ]
919
+ ],
920
+ "center": {
921
+ "x": -1.0739611387252808,
922
+ "y": 0.7988703846931458,
923
+ "z": -0.6382117867469788
924
+ },
925
+ "size": {
926
+ "x": 0.15465354919433594,
927
+ "y": 0.0072307586669921875,
928
+ "z": 0.17714166641235352
929
+ }
930
+ },
931
+ "objectOrientedBoundingBox": {
932
+ "cornerPoints": [
933
+ [
934
+ -1.0614113807678223,
935
+ 0.7952548861503601,
936
+ -0.726734459400177
937
+ ],
938
+ [
939
+ -0.996634304523468,
940
+ 0.7963414788246155,
941
+ -0.6831673979759216
942
+ ],
943
+ [
944
+ -1.0864403247833252,
945
+ 0.7963586449623108,
946
+ -0.5496410131454468
947
+ ],
948
+ [
949
+ -1.1512174606323242,
950
+ 0.7952719926834106,
951
+ -0.5932080745697021
952
+ ],
953
+ [
954
+ -1.0614818334579468,
955
+ 0.8013822436332703,
956
+ -0.7267826199531555
957
+ ],
958
+ [
959
+ -0.9967046976089478,
960
+ 0.8024688363075256,
961
+ -0.6832154989242554
962
+ ],
963
+ [
964
+ -1.0865107774734497,
965
+ 0.802486002445221,
966
+ -0.5496891140937805
967
+ ],
968
+ [
969
+ -1.1512877941131592,
970
+ 0.8013994097709656,
971
+ -0.5932562351226807
972
+ ]
973
+ ]
974
+ }
975
+ }
976
+ },
977
+ {
978
+ "objectId": "Pencil|-01.16|+00.80|-01.18",
979
+ "object_info": {
980
+ "name": "Pencil_84aef9b5",
981
+ "position": {
982
+ "x": -1.1593528985977173,
983
+ "y": 0.7952955961227417,
984
+ "z": -1.180025577545166
985
+ },
986
+ "rotation": {
987
+ "x": 0.7953882813453674,
988
+ "y": 239.443115234375,
989
+ "z": 34.56989669799805
990
+ },
991
+ "visible": false,
992
+ "isInteractable": false,
993
+ "receptacle": false,
994
+ "toggleable": false,
995
+ "isToggled": false,
996
+ "breakable": false,
997
+ "isBroken": false,
998
+ "canFillWithLiquid": false,
999
+ "isFilledWithLiquid": false,
1000
+ "fillLiquid": null,
1001
+ "dirtyable": false,
1002
+ "isDirty": false,
1003
+ "canBeUsedUp": false,
1004
+ "isUsedUp": false,
1005
+ "cookable": false,
1006
+ "isCooked": false,
1007
+ "temperature": "RoomTemp",
1008
+ "isHeatSource": false,
1009
+ "isColdSource": false,
1010
+ "sliceable": false,
1011
+ "isSliced": false,
1012
+ "openable": false,
1013
+ "isOpen": false,
1014
+ "openness": 0.0,
1015
+ "pickupable": true,
1016
+ "isPickedUp": false,
1017
+ "moveable": false,
1018
+ "mass": 0.005999999586492777,
1019
+ "salientMaterials": [
1020
+ "Wood"
1021
+ ],
1022
+ "receptacleObjectIds": null,
1023
+ "distance": 1.6576286554336548,
1024
+ "objectType": "Pencil",
1025
+ "objectId": "Pencil|-01.16|+00.80|-01.18",
1026
+ "assetId": "Pencil_2",
1027
+ "parentReceptacles": [
1028
+ "Desk|-00.79|+00.00|-01.03"
1029
+ ],
1030
+ "controlledObjects": null,
1031
+ "isMoving": false,
1032
+ "axisAlignedBoundingBox": {
1033
+ "cornerPoints": [
1034
+ [
1035
+ -1.0767266750335693,
1036
+ 0.8012788891792297,
1037
+ -1.129307746887207
1038
+ ],
1039
+ [
1040
+ -1.0767266750335693,
1041
+ 0.8012788891792297,
1042
+ -1.2339882850646973
1043
+ ],
1044
+ [
1045
+ -1.0767266750335693,
1046
+ 0.789223849773407,
1047
+ -1.129307746887207
1048
+ ],
1049
+ [
1050
+ -1.0767266750335693,
1051
+ 0.789223849773407,
1052
+ -1.2339882850646973
1053
+ ],
1054
+ [
1055
+ -1.2474753856658936,
1056
+ 0.8012788891792297,
1057
+ -1.129307746887207
1058
+ ],
1059
+ [
1060
+ -1.2474753856658936,
1061
+ 0.8012788891792297,
1062
+ -1.2339882850646973
1063
+ ],
1064
+ [
1065
+ -1.2474753856658936,
1066
+ 0.789223849773407,
1067
+ -1.129307746887207
1068
+ ],
1069
+ [
1070
+ -1.2474753856658936,
1071
+ 0.789223849773407,
1072
+ -1.2339882850646973
1073
+ ]
1074
+ ],
1075
+ "center": {
1076
+ "x": -1.1621010303497314,
1077
+ "y": 0.7952513694763184,
1078
+ "z": -1.1816480159759521
1079
+ },
1080
+ "size": {
1081
+ "x": 0.17074871063232422,
1082
+ "y": 0.012055039405822754,
1083
+ "z": 0.10468053817749023
1084
+ }
1085
+ },
1086
+ "objectOrientedBoundingBox": {
1087
+ "cornerPoints": [
1088
+ [
1089
+ -1.2501469850540161,
1090
+ 0.7926750183105469,
1091
+ -1.2259929180145264
1092
+ ],
1093
+ [
1094
+ -1.2461246252059937,
1095
+ 0.7873105406761169,
1096
+ -1.2326595783233643
1097
+ ],
1098
+ [
1099
+ -1.0766898393630981,
1100
+ 0.7900422215461731,
1101
+ -1.132628083229065
1102
+ ],
1103
+ [
1104
+ -1.0807121992111206,
1105
+ 0.7954066395759583,
1106
+ -1.1259615421295166
1107
+ ],
1108
+ [
1109
+ -1.2475123405456543,
1110
+ 0.8004603981971741,
1111
+ -1.230668067932129
1112
+ ],
1113
+ [
1114
+ -1.2434899806976318,
1115
+ 0.7950959801673889,
1116
+ -1.2373346090316772
1117
+ ],
1118
+ [
1119
+ -1.0740551948547363,
1120
+ 0.7978276014328003,
1121
+ -1.1373032331466675
1122
+ ],
1123
+ [
1124
+ -1.0780775547027588,
1125
+ 0.8031920194625854,
1126
+ -1.1306365728378296
1127
+ ]
1128
+ ]
1129
+ }
1130
+ }
1131
+ }
1132
+ ],
1133
+ "Agent": {
1134
+ "agent_position": {
1135
+ "x": -0.5,
1136
+ "y": 0.9009991884231567,
1137
+ "z": 1.0
1138
+ },
1139
+ "agent_rotation": {
1140
+ "x": -0.0,
1141
+ "y": 251.0,
1142
+ "z": 0.0
1143
+ },
1144
+ "agent_cameraHorizon": 0.0,
1145
+ "agent_isStanding": true,
1146
+ "agent_inHighFrictionArea": false
1147
+ },
1148
+ "camera_info": {
1149
+ "cameraPosition": {
1150
+ "x": -0.5,
1151
+ "y": 1.5759992599487305,
1152
+ "z": 1.0
1153
+ },
1154
+ "cameraOrthSize": -1.0,
1155
+ "fov": 90.0
1156
+ },
1157
+ "common_object": [
1158
+ "Mirror|-01.38|+01.57|+00.51",
1159
+ "Shelf|-01.29|+01.81|-00.60",
1160
+ "Desk|-00.79|+00.00|-01.03",
1161
+ "Shelf|-01.29|+01.45|-00.60"
1162
+ ],
1163
+ "different_object": [
1164
+ "Pencil|-01.16|+00.80|-01.18",
1165
+ "TennisRacket|-01.24|+00.32|-00.07",
1166
+ "CellPhone|-01.07|+00.80|-00.64",
1167
+ "Shelf|-01.29|+01.45|-01.34",
1168
+ "Shelf|-01.29|+01.81|-01.34"
1169
+ ]
1170
+ }
train/FloorPlan302/1/1_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:62550435c02630c1012ec4fedc5d0cc698d0bce9b38b0d783a489dce82e966b3
3
+ size 3145856
train/FloorPlan302/1/1_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b84d08120ddf5db842a09e022f82478a5faa2d294902e083f1d6ca35deeb457a
3
+ size 2359424
train/FloorPlan302/1/depth_0.png ADDED
train/FloorPlan302/1/depth_1.png ADDED
train/FloorPlan302/1/mask_questions.jsonl ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ {"id": 27770, "folder_dir": "FloorPlan302/1", "pair_name": "0-1:Mirror|-01.38|+01.57|+00.51", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black 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. Mirror\nC. LightSwitch\nD. Drawer", "answer": "B", "object_name": "Mirror", "image_1": "FloorPlan302/1/rgb_0.png", "image_2": "FloorPlan302/1/rgb_1.png", "mask_image": "FloorPlan302/1/rgb_1_mask_Mirror|-01.38|+01.57|+00.51.png", "options": ["Shelf", "Mirror", "LightSwitch", "Drawer"]}
2
+ {"id": 27771, "folder_dir": "FloorPlan302/1", "pair_name": "0-1:Shelf|-01.29|+01.81|-00.60", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black 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. Drawer\nC. DeskLamp\nD. Mirror", "answer": "A", "object_name": "Shelf", "image_1": "FloorPlan302/1/rgb_0.png", "image_2": "FloorPlan302/1/rgb_1.png", "mask_image": "FloorPlan302/1/rgb_1_mask_Shelf|-01.29|+01.81|-00.60.png", "options": ["Shelf", "Drawer", "DeskLamp", "Mirror"]}
3
+ {"id": 27772, "folder_dir": "FloorPlan302/1", "pair_name": "0-1:Shelf|-01.29|+01.45|-00.60", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black 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. Shelf\nC. Drawer\nD. Mirror", "answer": "B", "object_name": "Shelf", "image_1": "FloorPlan302/1/rgb_0.png", "image_2": "FloorPlan302/1/rgb_1.png", "mask_image": "FloorPlan302/1/rgb_1_mask_Shelf|-01.29|+01.45|-00.60.png", "options": ["LightSwitch", "Shelf", "Drawer", "Mirror"]}
4
+ {"id": 27773, "folder_dir": "FloorPlan302/1", "pair_name": "1-0:Mirror|-01.38|+01.57|+00.51", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black 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. Mirror\nC. TennisRacket\nD. Pencil", "answer": "B", "object_name": "Mirror", "image_1": "FloorPlan302/1/rgb_1.png", "image_2": "FloorPlan302/1/rgb_0.png", "mask_image": "FloorPlan302/1/rgb_0_mask_Mirror|-01.38|+01.57|+00.51.png", "options": ["Shelf", "Mirror", "TennisRacket", "Pencil"]}
5
+ {"id": 27774, "folder_dir": "FloorPlan302/1", "pair_name": "1-0:Shelf|-01.29|+01.81|-00.60", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black 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. Pencil\nC. TennisRacket\nD. Mirror", "answer": "A", "object_name": "Shelf", "image_1": "FloorPlan302/1/rgb_1.png", "image_2": "FloorPlan302/1/rgb_0.png", "mask_image": "FloorPlan302/1/rgb_0_mask_Shelf|-01.29|+01.81|-00.60.png", "options": ["Shelf", "Pencil", "TennisRacket", "Mirror"]}
6
+ {"id": 27775, "folder_dir": "FloorPlan302/1", "pair_name": "1-0:Desk|-00.79|+00.00|-01.03", "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. Mirror\nB. TennisRacket\nC. Shelf\nD. Desk", "answer": "D", "object_name": "Desk", "image_1": "FloorPlan302/1/rgb_1.png", "image_2": "FloorPlan302/1/rgb_0.png", "mask_image": "FloorPlan302/1/rgb_0_mask_Desk|-00.79|+00.00|-01.03.png", "options": ["Mirror", "TennisRacket", "Shelf", "Desk"]}
7
+ {"id": 27776, "folder_dir": "FloorPlan302/1", "pair_name": "1-0:Shelf|-01.29|+01.45|-00.60", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black 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. Mirror\nC. Shelf\nD. CellPhone", "answer": "C", "object_name": "Shelf", "image_1": "FloorPlan302/1/rgb_1.png", "image_2": "FloorPlan302/1/rgb_0.png", "mask_image": "FloorPlan302/1/rgb_0_mask_Shelf|-01.29|+01.45|-00.60.png", "options": ["Pencil", "Mirror", "Shelf", "CellPhone"]}
train/FloorPlan302/1/questions_distance.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"id": 7982, "folder_dir": "FloorPlan302/1", "query": "Which of the following objects is closest to Mirror in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. TennisRacket\nB. CellPhone\nC. LightSwitch\nD. Other\n", "answer": "A", "src_object": "Mirror", "target_object": "TennisRacket", "question": "Which of the following objects is closest to Mirror in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "TennisRacket", "semantic_id": "TennisRacket|-01.24|+00.32|-00.07", "distance": 1.3313639551898757, "com": {"x": -1.2305433750152588, "y": 0.3210269510746002, "z": -0.07516589760780334}}, {"text": "CellPhone", "semantic_id": "CellPhone|-01.07|+00.80|-00.64", "distance": 1.376575285926433, "com": {"x": -1.0739611387252808, "y": 0.7988703846931458, "z": -0.6382117867469788}}, {"text": "LightSwitch", "semantic_id": "LightSwitch|+00.01|+01.32|+01.50", "distance": 1.6987107252090565, "com": {"x": 0.010999981313943863, "y": 1.315000057220459, "z": 1.484620451927185}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan302/1/rgb_0.png", "image_2": "FloorPlan302/1/rgb_1.png"}
2
+ {"id": 7983, "folder_dir": "FloorPlan302/1", "query": "Which of the following objects is closest to Desk in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CellPhone\nB. TennisRacket\nC. Pencil\nD. Other\n", "answer": "C", "src_object": "Desk", "target_object": "Pencil", "question": "Which of the following objects is closest to Desk in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "CellPhone", "semantic_id": "CellPhone|-01.07|+00.80|-00.64", "distance": 0.6256556674618623, "com": {"x": -1.0739611387252808, "y": 0.7988703846931458, "z": -0.6382117867469788}}, {"text": "TennisRacket", "semantic_id": "TennisRacket|-01.24|+00.32|-00.07", "distance": 1.0553315585427763, "com": {"x": -1.2305433750152588, "y": 0.3210269510746002, "z": -0.07516589760780334}}, {"text": "Pencil", "semantic_id": "Pencil|-01.16|+00.80|-01.18", "distance": 0.5566447958351346, "com": {"x": -1.1621010303497314, "y": 0.7952513694763184, "z": -1.1816480159759521}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan302/1/rgb_0.png", "image_2": "FloorPlan302/1/rgb_1.png"}
train/FloorPlan302/1/rgb_0.png ADDED

Git LFS Details

  • SHA256: 3a6f5caacfcc7dc5eb8731a3eed3194f1f3be839355ef8178d7df4a53db19ea6
  • Pointer size: 131 Bytes
  • Size of remote file: 862 kB
train/FloorPlan302/1/rgb_0_mask_Desk|-00.79|+00.00|-01.03.png ADDED

Git LFS Details

  • SHA256: cc779d8e22dbc67aaa98262bccdee31bc20f48903c5451fa44add0ef4eb6f57f
  • Pointer size: 131 Bytes
  • Size of remote file: 750 kB
train/FloorPlan302/1/rgb_0_mask_Mirror|-01.38|+01.57|+00.51.png ADDED

Git LFS Details

  • SHA256: 9d869872ade919be58d40b2828a8d56224ed6fb703cab34ae6c3fce1becd48f7
  • Pointer size: 131 Bytes
  • Size of remote file: 751 kB
train/FloorPlan302/1/rgb_0_mask_Shelf|-01.29|+01.45|-00.60.png ADDED

Git LFS Details

  • SHA256: 672f3eb1a777669f554a0b0cade2be38ee69fc911bcb5a62fc74681b97fad43e
  • Pointer size: 131 Bytes
  • Size of remote file: 747 kB
train/FloorPlan302/1/rgb_0_mask_Shelf|-01.29|+01.81|-00.60.png ADDED

Git LFS Details

  • SHA256: fec51f3e6aadb18a7253f82bb84d96553b66321621a7af1b65d1e396ef57792a
  • Pointer size: 131 Bytes
  • Size of remote file: 748 kB
train/FloorPlan302/1/rgb_1.png ADDED

Git LFS Details

  • SHA256: 888e3393a2730b65ee1c0a581d3bebbe31dc528276512aa6255151c6cc99ae6b
  • Pointer size: 131 Bytes
  • Size of remote file: 824 kB
train/FloorPlan302/1/rgb_1_mask_Mirror|-01.38|+01.57|+00.51.png ADDED

Git LFS Details

  • SHA256: b1cfb14900e2f209a344b3e86a9be834fc11522e5ede85c6d38e38d8dfa83688
  • Pointer size: 131 Bytes
  • Size of remote file: 685 kB
train/FloorPlan302/1/rgb_1_mask_Shelf|-01.29|+01.45|-00.60.png ADDED

Git LFS Details

  • SHA256: 1769485a204a90b8bd78ba8fc4a4b961858032a0b6d2ba1990476390430ea97f
  • Pointer size: 131 Bytes
  • Size of remote file: 725 kB
train/FloorPlan302/1/rgb_1_mask_Shelf|-01.29|+01.81|-00.60.png ADDED

Git LFS Details

  • SHA256: 0a515832f7cb5dfba730e45dce58b2df41f13eae831c8466fb511f98670483be
  • Pointer size: 131 Bytes
  • Size of remote file: 722 kB
train/FloorPlan302/1/semantic_0.png ADDED
train/FloorPlan302/1/semantic_1.png ADDED
train/FloorPlan302/10/0.json ADDED
@@ -0,0 +1,1972 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "object": [
3
+ {
4
+ "objectId": "Shelf|-01.29|+01.45|-01.34",
5
+ "object_info": {
6
+ "name": "Shelf_54cc751e",
7
+ "position": {
8
+ "x": -1.2868000268936157,
9
+ "y": 1.4511127471923828,
10
+ "z": -1.343999981880188
11
+ },
12
+ "rotation": {
13
+ "x": -0.0,
14
+ "y": 0.0,
15
+ "z": 0.0
16
+ },
17
+ "visible": false,
18
+ "isInteractable": false,
19
+ "receptacle": true,
20
+ "toggleable": false,
21
+ "isToggled": false,
22
+ "breakable": false,
23
+ "isBroken": false,
24
+ "canFillWithLiquid": false,
25
+ "isFilledWithLiquid": false,
26
+ "fillLiquid": null,
27
+ "dirtyable": false,
28
+ "isDirty": false,
29
+ "canBeUsedUp": false,
30
+ "isUsedUp": false,
31
+ "cookable": false,
32
+ "isCooked": false,
33
+ "temperature": "RoomTemp",
34
+ "isHeatSource": false,
35
+ "isColdSource": false,
36
+ "sliceable": false,
37
+ "isSliced": false,
38
+ "openable": false,
39
+ "isOpen": false,
40
+ "openness": 0.0,
41
+ "pickupable": false,
42
+ "isPickedUp": false,
43
+ "moveable": false,
44
+ "mass": 0.0,
45
+ "salientMaterials": null,
46
+ "receptacleObjectIds": [],
47
+ "distance": 1.9403132200241089,
48
+ "objectType": "Shelf",
49
+ "objectId": "Shelf|-01.29|+01.45|-01.34",
50
+ "assetId": "",
51
+ "parentReceptacles": null,
52
+ "controlledObjects": null,
53
+ "isMoving": false,
54
+ "axisAlignedBoundingBox": {
55
+ "cornerPoints": [
56
+ [
57
+ -1.1771008968353271,
58
+ 1.7803993225097656,
59
+ -0.9864070415496826
60
+ ],
61
+ [
62
+ -1.1771008968353271,
63
+ 1.7803993225097656,
64
+ -1.7022664546966553
65
+ ],
66
+ [
67
+ -1.1771008968353271,
68
+ 1.4527649879455566,
69
+ -0.9864070415496826
70
+ ],
71
+ [
72
+ -1.1771008968353271,
73
+ 1.4527649879455566,
74
+ -1.7022664546966553
75
+ ],
76
+ [
77
+ -1.3916823863983154,
78
+ 1.7803993225097656,
79
+ -0.9864070415496826
80
+ ],
81
+ [
82
+ -1.3916823863983154,
83
+ 1.7803993225097656,
84
+ -1.7022664546966553
85
+ ],
86
+ [
87
+ -1.3916823863983154,
88
+ 1.4527649879455566,
89
+ -0.9864070415496826
90
+ ],
91
+ [
92
+ -1.3916823863983154,
93
+ 1.4527649879455566,
94
+ -1.7022664546966553
95
+ ]
96
+ ],
97
+ "center": {
98
+ "x": -1.2843916416168213,
99
+ "y": 1.6165821552276611,
100
+ "z": -1.344336748123169
101
+ },
102
+ "size": {
103
+ "x": 0.21458148956298828,
104
+ "y": 0.327634334564209,
105
+ "z": 0.7158594131469727
106
+ }
107
+ },
108
+ "objectOrientedBoundingBox": null
109
+ }
110
+ },
111
+ {
112
+ "objectId": "Shelf|-01.29|+01.81|-01.34",
113
+ "object_info": {
114
+ "name": "Shelf_71819892",
115
+ "position": {
116
+ "x": -1.2868000268936157,
117
+ "y": 1.8143999576568604,
118
+ "z": -1.343999981880188
119
+ },
120
+ "rotation": {
121
+ "x": -0.0,
122
+ "y": 0.0,
123
+ "z": 0.0
124
+ },
125
+ "visible": false,
126
+ "isInteractable": false,
127
+ "receptacle": true,
128
+ "toggleable": false,
129
+ "isToggled": false,
130
+ "breakable": false,
131
+ "isBroken": false,
132
+ "canFillWithLiquid": false,
133
+ "isFilledWithLiquid": false,
134
+ "fillLiquid": null,
135
+ "dirtyable": false,
136
+ "isDirty": false,
137
+ "canBeUsedUp": false,
138
+ "isUsedUp": false,
139
+ "cookable": false,
140
+ "isCooked": false,
141
+ "temperature": "RoomTemp",
142
+ "isHeatSource": false,
143
+ "isColdSource": false,
144
+ "sliceable": false,
145
+ "isSliced": false,
146
+ "openable": false,
147
+ "isOpen": false,
148
+ "openness": 0.0,
149
+ "pickupable": false,
150
+ "isPickedUp": false,
151
+ "moveable": false,
152
+ "mass": 0.0,
153
+ "salientMaterials": null,
154
+ "receptacleObjectIds": [],
155
+ "distance": 2.072798013687134,
156
+ "objectType": "Shelf",
157
+ "objectId": "Shelf|-01.29|+01.81|-01.34",
158
+ "assetId": "",
159
+ "parentReceptacles": null,
160
+ "controlledObjects": null,
161
+ "isMoving": false,
162
+ "axisAlignedBoundingBox": {
163
+ "cornerPoints": [
164
+ [
165
+ -1.1771008968353271,
166
+ 2.14180064201355,
167
+ -0.9862945079803467
168
+ ],
169
+ [
170
+ -1.1771008968353271,
171
+ 2.14180064201355,
172
+ -1.7021536827087402
173
+ ],
174
+ [
175
+ -1.1771008968353271,
176
+ 1.8141663074493408,
177
+ -0.9862945079803467
178
+ ],
179
+ [
180
+ -1.1771008968353271,
181
+ 1.8141663074493408,
182
+ -1.7021536827087402
183
+ ],
184
+ [
185
+ -1.3916823863983154,
186
+ 2.14180064201355,
187
+ -0.9862945079803467
188
+ ],
189
+ [
190
+ -1.3916823863983154,
191
+ 2.14180064201355,
192
+ -1.7021536827087402
193
+ ],
194
+ [
195
+ -1.3916823863983154,
196
+ 1.8141663074493408,
197
+ -0.9862945079803467
198
+ ],
199
+ [
200
+ -1.3916823863983154,
201
+ 1.8141663074493408,
202
+ -1.7021536827087402
203
+ ]
204
+ ],
205
+ "center": {
206
+ "x": -1.2843916416168213,
207
+ "y": 1.9779834747314453,
208
+ "z": -1.3442240953445435
209
+ },
210
+ "size": {
211
+ "x": 0.21458148956298828,
212
+ "y": 0.327634334564209,
213
+ "z": 0.7158591747283936
214
+ }
215
+ },
216
+ "objectOrientedBoundingBox": null
217
+ }
218
+ },
219
+ {
220
+ "objectId": "Shelf|-01.29|+01.81|-00.60",
221
+ "object_info": {
222
+ "name": "Shelf_a7d9ee9f",
223
+ "position": {
224
+ "x": -1.2868000268936157,
225
+ "y": 1.8143999576568604,
226
+ "z": -0.6029999852180481
227
+ },
228
+ "rotation": {
229
+ "x": -0.0,
230
+ "y": 0.0,
231
+ "z": 0.0
232
+ },
233
+ "visible": true,
234
+ "isInteractable": true,
235
+ "receptacle": true,
236
+ "toggleable": false,
237
+ "isToggled": false,
238
+ "breakable": false,
239
+ "isBroken": false,
240
+ "canFillWithLiquid": false,
241
+ "isFilledWithLiquid": false,
242
+ "fillLiquid": null,
243
+ "dirtyable": false,
244
+ "isDirty": false,
245
+ "canBeUsedUp": false,
246
+ "isUsedUp": false,
247
+ "cookable": false,
248
+ "isCooked": false,
249
+ "temperature": "RoomTemp",
250
+ "isHeatSource": false,
251
+ "isColdSource": false,
252
+ "sliceable": false,
253
+ "isSliced": false,
254
+ "openable": false,
255
+ "isOpen": false,
256
+ "openness": 0.0,
257
+ "pickupable": false,
258
+ "isPickedUp": false,
259
+ "moveable": false,
260
+ "mass": 0.0,
261
+ "salientMaterials": null,
262
+ "receptacleObjectIds": [],
263
+ "distance": 1.689308762550354,
264
+ "objectType": "Shelf",
265
+ "objectId": "Shelf|-01.29|+01.81|-00.60",
266
+ "assetId": "",
267
+ "parentReceptacles": null,
268
+ "controlledObjects": null,
269
+ "isMoving": false,
270
+ "axisAlignedBoundingBox": {
271
+ "cornerPoints": [
272
+ [
273
+ -1.1771008968353271,
274
+ 2.141514301300049,
275
+ -0.24500679969787598
276
+ ],
277
+ [
278
+ -1.1771008968353271,
279
+ 2.141514301300049,
280
+ -0.9554154872894287
281
+ ],
282
+ [
283
+ -1.1771008968353271,
284
+ 1.8138823509216309,
285
+ -0.24500679969787598
286
+ ],
287
+ [
288
+ -1.1771008968353271,
289
+ 1.8138823509216309,
290
+ -0.9554154872894287
291
+ ],
292
+ [
293
+ -1.3916823863983154,
294
+ 2.141514301300049,
295
+ -0.24500679969787598
296
+ ],
297
+ [
298
+ -1.3916823863983154,
299
+ 2.141514301300049,
300
+ -0.9554154872894287
301
+ ],
302
+ [
303
+ -1.3916823863983154,
304
+ 1.8138823509216309,
305
+ -0.24500679969787598
306
+ ],
307
+ [
308
+ -1.3916823863983154,
309
+ 1.8138823509216309,
310
+ -0.9554154872894287
311
+ ]
312
+ ],
313
+ "center": {
314
+ "x": -1.2843916416168213,
315
+ "y": 1.9776983261108398,
316
+ "z": -0.6002111434936523
317
+ },
318
+ "size": {
319
+ "x": 0.21458148956298828,
320
+ "y": 0.32763195037841797,
321
+ "z": 0.7104086875915527
322
+ }
323
+ },
324
+ "objectOrientedBoundingBox": null
325
+ }
326
+ },
327
+ {
328
+ "objectId": "Drawer|+00.30|+00.46|+01.16",
329
+ "object_info": {
330
+ "name": "Drawer_8f3dd27f",
331
+ "position": {
332
+ "x": 0.304706871509552,
333
+ "y": 0.45572322607040405,
334
+ "z": 1.1591870784759521
335
+ },
336
+ "rotation": {
337
+ "x": -0.001957286847755313,
338
+ "y": 180.0015106201172,
339
+ "z": 0.0008084956207312644
340
+ },
341
+ "visible": false,
342
+ "isInteractable": false,
343
+ "receptacle": true,
344
+ "toggleable": false,
345
+ "isToggled": false,
346
+ "breakable": false,
347
+ "isBroken": false,
348
+ "canFillWithLiquid": false,
349
+ "isFilledWithLiquid": false,
350
+ "fillLiquid": null,
351
+ "dirtyable": false,
352
+ "isDirty": false,
353
+ "canBeUsedUp": false,
354
+ "isUsedUp": false,
355
+ "cookable": false,
356
+ "isCooked": false,
357
+ "temperature": "RoomTemp",
358
+ "isHeatSource": false,
359
+ "isColdSource": false,
360
+ "sliceable": false,
361
+ "isSliced": false,
362
+ "openable": true,
363
+ "isOpen": false,
364
+ "openness": 0.0,
365
+ "pickupable": false,
366
+ "isPickedUp": false,
367
+ "moveable": false,
368
+ "mass": 0.0,
369
+ "salientMaterials": null,
370
+ "receptacleObjectIds": [],
371
+ "distance": 1.278605341911316,
372
+ "objectType": "Drawer",
373
+ "objectId": "Drawer|+00.30|+00.46|+01.16",
374
+ "assetId": "",
375
+ "parentReceptacles": null,
376
+ "controlledObjects": null,
377
+ "isMoving": false,
378
+ "axisAlignedBoundingBox": {
379
+ "cornerPoints": [
380
+ [
381
+ 0.5662636756896973,
382
+ 0.6236447095870972,
383
+ 1.2817351818084717
384
+ ],
385
+ [
386
+ 0.5662636756896973,
387
+ 0.6236447095870972,
388
+ 1.035210371017456
389
+ ],
390
+ [
391
+ 0.5662636756896973,
392
+ 0.32685256004333496,
393
+ 1.2817351818084717
394
+ ],
395
+ [
396
+ 0.5662636756896973,
397
+ 0.32685256004333496,
398
+ 1.035210371017456
399
+ ],
400
+ [
401
+ 0.04312920570373535,
402
+ 0.6236447095870972,
403
+ 1.2817351818084717
404
+ ],
405
+ [
406
+ 0.04312920570373535,
407
+ 0.6236447095870972,
408
+ 1.035210371017456
409
+ ],
410
+ [
411
+ 0.04312920570373535,
412
+ 0.32685256004333496,
413
+ 1.2817351818084717
414
+ ],
415
+ [
416
+ 0.04312920570373535,
417
+ 0.32685256004333496,
418
+ 1.035210371017456
419
+ ]
420
+ ],
421
+ "center": {
422
+ "x": 0.3046964406967163,
423
+ "y": 0.47524863481521606,
424
+ "z": 1.1584727764129639
425
+ },
426
+ "size": {
427
+ "x": 0.5231344699859619,
428
+ "y": 0.2967921495437622,
429
+ "z": 0.24652481079101562
430
+ }
431
+ },
432
+ "objectOrientedBoundingBox": null
433
+ }
434
+ },
435
+ {
436
+ "objectId": "Pen|-01.13|+00.80|-01.24",
437
+ "object_info": {
438
+ "name": "Pen_b5abb21c",
439
+ "position": {
440
+ "x": -1.1323306560516357,
441
+ "y": 0.7960861921310425,
442
+ "z": -1.2358907461166382
443
+ },
444
+ "rotation": {
445
+ "x": 0.7949433922767639,
446
+ "y": 230.83401489257812,
447
+ "z": 227.70957946777344
448
+ },
449
+ "visible": false,
450
+ "isInteractable": false,
451
+ "receptacle": false,
452
+ "toggleable": false,
453
+ "isToggled": false,
454
+ "breakable": false,
455
+ "isBroken": false,
456
+ "canFillWithLiquid": false,
457
+ "isFilledWithLiquid": false,
458
+ "fillLiquid": null,
459
+ "dirtyable": false,
460
+ "isDirty": false,
461
+ "canBeUsedUp": false,
462
+ "isUsedUp": false,
463
+ "cookable": false,
464
+ "isCooked": false,
465
+ "temperature": "RoomTemp",
466
+ "isHeatSource": false,
467
+ "isColdSource": false,
468
+ "sliceable": false,
469
+ "isSliced": false,
470
+ "openable": false,
471
+ "isOpen": false,
472
+ "openness": 0.0,
473
+ "pickupable": true,
474
+ "isPickedUp": false,
475
+ "moveable": false,
476
+ "mass": 0.005999999586492777,
477
+ "salientMaterials": [
478
+ "Plastic",
479
+ "Metal"
480
+ ],
481
+ "receptacleObjectIds": null,
482
+ "distance": 1.6794657707214355,
483
+ "objectType": "Pen",
484
+ "objectId": "Pen|-01.13|+00.80|-01.24",
485
+ "assetId": "Pen_2",
486
+ "parentReceptacles": [
487
+ "Desk|-00.79|+00.00|-01.03"
488
+ ],
489
+ "controlledObjects": null,
490
+ "isMoving": false,
491
+ "axisAlignedBoundingBox": {
492
+ "cornerPoints": [
493
+ [
494
+ -1.0586239099502563,
495
+ 0.8029492497444153,
496
+ -1.1748030185699463
497
+ ],
498
+ [
499
+ -1.0586239099502563,
500
+ 0.8029492497444153,
501
+ -1.3051629066467285
502
+ ],
503
+ [
504
+ -1.0586239099502563,
505
+ 0.7890432476997375,
506
+ -1.1748030185699463
507
+ ],
508
+ [
509
+ -1.0586239099502563,
510
+ 0.7890432476997375,
511
+ -1.3051629066467285
512
+ ],
513
+ [
514
+ -1.216084361076355,
515
+ 0.8029492497444153,
516
+ -1.1748030185699463
517
+ ],
518
+ [
519
+ -1.216084361076355,
520
+ 0.8029492497444153,
521
+ -1.3051629066467285
522
+ ],
523
+ [
524
+ -1.216084361076355,
525
+ 0.7890432476997375,
526
+ -1.1748030185699463
527
+ ],
528
+ [
529
+ -1.216084361076355,
530
+ 0.7890432476997375,
531
+ -1.3051629066467285
532
+ ]
533
+ ],
534
+ "center": {
535
+ "x": -1.1373541355133057,
536
+ "y": 0.7959962487220764,
537
+ "z": -1.2399829626083374
538
+ },
539
+ "size": {
540
+ "x": 0.15746045112609863,
541
+ "y": 0.013906002044677734,
542
+ "z": 0.13035988807678223
543
+ }
544
+ },
545
+ "objectOrientedBoundingBox": {
546
+ "cornerPoints": [
547
+ [
548
+ -1.2097755670547485,
549
+ 0.7942324876785278,
550
+ -1.3092619180679321
551
+ ],
552
+ [
553
+ -1.2146635055541992,
554
+ 0.8025835156440735,
555
+ -1.3034449815750122
556
+ ],
557
+ [
558
+ -1.0597400665283203,
559
+ 0.8053560853004456,
560
+ -1.1772456169128418
561
+ ],
562
+ [
563
+ -1.0548522472381592,
564
+ 0.7970049977302551,
565
+ -1.1830625534057617
566
+ ],
567
+ [
568
+ -1.2149684429168701,
569
+ 0.786636471748352,
570
+ -1.302720308303833
571
+ ],
572
+ [
573
+ -1.2198562622070312,
574
+ 0.7949875593185425,
575
+ -1.296903371810913
576
+ ],
577
+ [
578
+ -1.064932942390442,
579
+ 0.7977600693702698,
580
+ -1.1707038879394531
581
+ ],
582
+ [
583
+ -1.0600450038909912,
584
+ 0.7894090414047241,
585
+ -1.1765209436416626
586
+ ]
587
+ ]
588
+ }
589
+ }
590
+ },
591
+ {
592
+ "objectId": "Desk|-00.79|+00.00|-01.03",
593
+ "object_info": {
594
+ "name": "Desk_01ca18b8",
595
+ "position": {
596
+ "x": -0.7880603075027466,
597
+ "y": 0.0004979968070983887,
598
+ "z": -1.0329155921936035
599
+ },
600
+ "rotation": {
601
+ "x": 359.33953857421875,
602
+ "y": 89.71826171875,
603
+ "z": 359.55328369140625
604
+ },
605
+ "visible": true,
606
+ "isInteractable": true,
607
+ "receptacle": true,
608
+ "toggleable": false,
609
+ "isToggled": false,
610
+ "breakable": false,
611
+ "isBroken": false,
612
+ "canFillWithLiquid": false,
613
+ "isFilledWithLiquid": false,
614
+ "fillLiquid": null,
615
+ "dirtyable": false,
616
+ "isDirty": false,
617
+ "canBeUsedUp": false,
618
+ "isUsedUp": false,
619
+ "cookable": false,
620
+ "isCooked": false,
621
+ "temperature": "RoomTemp",
622
+ "isHeatSource": false,
623
+ "isColdSource": false,
624
+ "sliceable": false,
625
+ "isSliced": false,
626
+ "openable": false,
627
+ "isOpen": false,
628
+ "openness": 0.0,
629
+ "pickupable": false,
630
+ "isPickedUp": false,
631
+ "moveable": false,
632
+ "mass": 34.0,
633
+ "salientMaterials": [
634
+ "Wood"
635
+ ],
636
+ "receptacleObjectIds": [
637
+ "CD|-01.30|+00.80|-00.31",
638
+ "CellPhone|-01.07|+00.80|-00.64",
639
+ "Pen|-01.13|+00.80|-01.24",
640
+ "Pencil|-01.16|+00.80|-01.18",
641
+ "Laptop|-01.04|+00.79|-01.51",
642
+ "Book|-00.69|+00.79|-01.72",
643
+ "CreditCard|-00.39|+00.80|-01.70",
644
+ "KeyChain|-00.55|+00.80|-01.52"
645
+ ],
646
+ "distance": 1.5807770490646362,
647
+ "objectType": "Desk",
648
+ "objectId": "Desk|-00.79|+00.00|-01.03",
649
+ "assetId": "Desk_302_1",
650
+ "parentReceptacles": [
651
+ "Chair|-00.68|+00.00|-01.33",
652
+ "Floor|+00.00|+00.00|+00.00"
653
+ ],
654
+ "controlledObjects": null,
655
+ "isMoving": false,
656
+ "axisAlignedBoundingBox": {
657
+ "cornerPoints": [
658
+ [
659
+ -0.1982954740524292,
660
+ 0.8021975755691528,
661
+ -0.16861772537231445
662
+ ],
663
+ [
664
+ -0.1982954740524292,
665
+ 0.8021975755691528,
666
+ -1.9000144004821777
667
+ ],
668
+ [
669
+ -0.1982954740524292,
670
+ -2.193450927734375e-05,
671
+ -0.16861772537231445
672
+ ],
673
+ [
674
+ -0.1982954740524292,
675
+ -2.193450927734375e-05,
676
+ -1.9000144004821777
677
+ ],
678
+ [
679
+ -1.397121787071228,
680
+ 0.8021975755691528,
681
+ -0.16861772537231445
682
+ ],
683
+ [
684
+ -1.397121787071228,
685
+ 0.8021975755691528,
686
+ -1.9000144004821777
687
+ ],
688
+ [
689
+ -1.397121787071228,
690
+ -2.193450927734375e-05,
691
+ -0.16861772537231445
692
+ ],
693
+ [
694
+ -1.397121787071228,
695
+ -2.193450927734375e-05,
696
+ -1.9000144004821777
697
+ ]
698
+ ],
699
+ "center": {
700
+ "x": -0.7977086305618286,
701
+ "y": 0.40108782052993774,
702
+ "z": -1.034316062927246
703
+ },
704
+ "size": {
705
+ "x": 1.1988263130187988,
706
+ "y": 0.8022195100784302,
707
+ "z": 1.7313966751098633
708
+ }
709
+ },
710
+ "objectOrientedBoundingBox": null
711
+ }
712
+ },
713
+ {
714
+ "objectId": "Mirror|-01.38|+01.57|+00.51",
715
+ "object_info": {
716
+ "name": "Mirror_db756642",
717
+ "position": {
718
+ "x": -1.3839999437332153,
719
+ "y": 1.565000057220459,
720
+ "z": 0.5120000243186951
721
+ },
722
+ "rotation": {
723
+ "x": -0.0,
724
+ "y": 270.0,
725
+ "z": 0.0
726
+ },
727
+ "visible": false,
728
+ "isInteractable": false,
729
+ "receptacle": false,
730
+ "toggleable": false,
731
+ "isToggled": false,
732
+ "breakable": true,
733
+ "isBroken": false,
734
+ "canFillWithLiquid": false,
735
+ "isFilledWithLiquid": false,
736
+ "fillLiquid": null,
737
+ "dirtyable": true,
738
+ "isDirty": false,
739
+ "canBeUsedUp": false,
740
+ "isUsedUp": false,
741
+ "cookable": false,
742
+ "isCooked": false,
743
+ "temperature": "RoomTemp",
744
+ "isHeatSource": false,
745
+ "isColdSource": false,
746
+ "sliceable": false,
747
+ "isSliced": false,
748
+ "openable": false,
749
+ "isOpen": false,
750
+ "openness": 0.0,
751
+ "pickupable": false,
752
+ "isPickedUp": false,
753
+ "moveable": false,
754
+ "mass": 0.0,
755
+ "salientMaterials": null,
756
+ "receptacleObjectIds": null,
757
+ "distance": 1.618177056312561,
758
+ "objectType": "Mirror",
759
+ "objectId": "Mirror|-01.38|+01.57|+00.51",
760
+ "assetId": "",
761
+ "parentReceptacles": null,
762
+ "controlledObjects": null,
763
+ "isMoving": false,
764
+ "axisAlignedBoundingBox": {
765
+ "cornerPoints": [
766
+ [
767
+ -1.33620023727417,
768
+ 1.847362995147705,
769
+ 0.7824673652648926
770
+ ],
771
+ [
772
+ -1.33620023727417,
773
+ 1.847362995147705,
774
+ 0.22343194484710693
775
+ ],
776
+ [
777
+ -1.33620023727417,
778
+ 1.1790292263031006,
779
+ 0.7824673652648926
780
+ ],
781
+ [
782
+ -1.33620023727417,
783
+ 1.1790292263031006,
784
+ 0.22343194484710693
785
+ ],
786
+ [
787
+ -1.386000156402588,
788
+ 1.847362995147705,
789
+ 0.7824673652648926
790
+ ],
791
+ [
792
+ -1.386000156402588,
793
+ 1.847362995147705,
794
+ 0.22343194484710693
795
+ ],
796
+ [
797
+ -1.386000156402588,
798
+ 1.1790292263031006,
799
+ 0.7824673652648926
800
+ ],
801
+ [
802
+ -1.386000156402588,
803
+ 1.1790292263031006,
804
+ 0.22343194484710693
805
+ ]
806
+ ],
807
+ "center": {
808
+ "x": -1.361100196838379,
809
+ "y": 1.5131961107254028,
810
+ "z": 0.5029496550559998
811
+ },
812
+ "size": {
813
+ "x": 0.04979991912841797,
814
+ "y": 0.6683337688446045,
815
+ "z": 0.5590354204177856
816
+ }
817
+ },
818
+ "objectOrientedBoundingBox": null
819
+ }
820
+ },
821
+ {
822
+ "objectId": "Shelf|-01.29|+01.45|-00.60",
823
+ "object_info": {
824
+ "name": "Shelf_2f16b4c5",
825
+ "position": {
826
+ "x": -1.2868000268936157,
827
+ "y": 1.4511127471923828,
828
+ "z": -0.6029999852180481
829
+ },
830
+ "rotation": {
831
+ "x": -0.0,
832
+ "y": 0.0,
833
+ "z": 0.0
834
+ },
835
+ "visible": true,
836
+ "isInteractable": true,
837
+ "receptacle": true,
838
+ "toggleable": false,
839
+ "isToggled": false,
840
+ "breakable": false,
841
+ "isBroken": false,
842
+ "canFillWithLiquid": false,
843
+ "isFilledWithLiquid": false,
844
+ "fillLiquid": null,
845
+ "dirtyable": false,
846
+ "isDirty": false,
847
+ "canBeUsedUp": false,
848
+ "isUsedUp": false,
849
+ "cookable": false,
850
+ "isCooked": false,
851
+ "temperature": "RoomTemp",
852
+ "isHeatSource": false,
853
+ "isColdSource": false,
854
+ "sliceable": false,
855
+ "isSliced": false,
856
+ "openable": false,
857
+ "isOpen": false,
858
+ "openness": 0.0,
859
+ "pickupable": false,
860
+ "isPickedUp": false,
861
+ "moveable": false,
862
+ "mass": 0.0,
863
+ "salientMaterials": null,
864
+ "receptacleObjectIds": [],
865
+ "distance": 1.5238399505615234,
866
+ "objectType": "Shelf",
867
+ "objectId": "Shelf|-01.29|+01.45|-00.60",
868
+ "assetId": "",
869
+ "parentReceptacles": null,
870
+ "controlledObjects": null,
871
+ "isMoving": false,
872
+ "axisAlignedBoundingBox": {
873
+ "cornerPoints": [
874
+ [
875
+ -1.1771008968353271,
876
+ 1.7801129817962646,
877
+ -0.2451193928718567
878
+ ],
879
+ [
880
+ -1.1771008968353271,
881
+ 1.7801129817962646,
882
+ -0.9555280804634094
883
+ ],
884
+ [
885
+ -1.1771008968353271,
886
+ 1.4524810314178467,
887
+ -0.2451193928718567
888
+ ],
889
+ [
890
+ -1.1771008968353271,
891
+ 1.4524810314178467,
892
+ -0.9555280804634094
893
+ ],
894
+ [
895
+ -1.3916823863983154,
896
+ 1.7801129817962646,
897
+ -0.2451193928718567
898
+ ],
899
+ [
900
+ -1.3916823863983154,
901
+ 1.7801129817962646,
902
+ -0.9555280804634094
903
+ ],
904
+ [
905
+ -1.3916823863983154,
906
+ 1.4524810314178467,
907
+ -0.2451193928718567
908
+ ],
909
+ [
910
+ -1.3916823863983154,
911
+ 1.4524810314178467,
912
+ -0.9555280804634094
913
+ ]
914
+ ],
915
+ "center": {
916
+ "x": -1.2843916416168213,
917
+ "y": 1.6162970066070557,
918
+ "z": -0.6003237366676331
919
+ },
920
+ "size": {
921
+ "x": 0.21458148956298828,
922
+ "y": 0.32763195037841797,
923
+ "z": 0.7104086875915527
924
+ }
925
+ },
926
+ "objectOrientedBoundingBox": null
927
+ }
928
+ },
929
+ {
930
+ "objectId": "LightSwitch|+00.01|+01.32|+01.50",
931
+ "object_info": {
932
+ "name": "LightSwitch_91f60c59",
933
+ "position": {
934
+ "x": 0.010999999940395355,
935
+ "y": 1.315000057220459,
936
+ "z": 1.4999998807907104
937
+ },
938
+ "rotation": {
939
+ "x": -0.0,
940
+ "y": 180.0000762939453,
941
+ "z": 0.0
942
+ },
943
+ "visible": false,
944
+ "isInteractable": false,
945
+ "receptacle": false,
946
+ "toggleable": true,
947
+ "isToggled": true,
948
+ "breakable": false,
949
+ "isBroken": false,
950
+ "canFillWithLiquid": false,
951
+ "isFilledWithLiquid": false,
952
+ "fillLiquid": null,
953
+ "dirtyable": false,
954
+ "isDirty": false,
955
+ "canBeUsedUp": false,
956
+ "isUsedUp": false,
957
+ "cookable": false,
958
+ "isCooked": false,
959
+ "temperature": "RoomTemp",
960
+ "isHeatSource": false,
961
+ "isColdSource": false,
962
+ "sliceable": false,
963
+ "isSliced": false,
964
+ "openable": false,
965
+ "isOpen": false,
966
+ "openness": 0.0,
967
+ "pickupable": false,
968
+ "isPickedUp": false,
969
+ "moveable": false,
970
+ "mass": 0.0,
971
+ "salientMaterials": null,
972
+ "receptacleObjectIds": null,
973
+ "distance": 1.5561225414276123,
974
+ "objectType": "LightSwitch",
975
+ "objectId": "LightSwitch|+00.01|+01.32|+01.50",
976
+ "assetId": "Light_Switch_2",
977
+ "parentReceptacles": null,
978
+ "controlledObjects": [],
979
+ "isMoving": false,
980
+ "axisAlignedBoundingBox": {
981
+ "cornerPoints": [
982
+ [
983
+ 0.06987692415714264,
984
+ 1.3756191730499268,
985
+ 1.5
986
+ ],
987
+ [
988
+ 0.06987692415714264,
989
+ 1.3756191730499268,
990
+ 1.4692409038543701
991
+ ],
992
+ [
993
+ 0.06987692415714264,
994
+ 1.2543809413909912,
995
+ 1.5
996
+ ],
997
+ [
998
+ 0.06987692415714264,
999
+ 1.2543809413909912,
1000
+ 1.4692409038543701
1001
+ ],
1002
+ [
1003
+ -0.04787696152925491,
1004
+ 1.3756191730499268,
1005
+ 1.5
1006
+ ],
1007
+ [
1008
+ -0.04787696152925491,
1009
+ 1.3756191730499268,
1010
+ 1.4692409038543701
1011
+ ],
1012
+ [
1013
+ -0.04787696152925491,
1014
+ 1.2543809413909912,
1015
+ 1.5
1016
+ ],
1017
+ [
1018
+ -0.04787696152925491,
1019
+ 1.2543809413909912,
1020
+ 1.4692409038543701
1021
+ ]
1022
+ ],
1023
+ "center": {
1024
+ "x": 0.010999981313943863,
1025
+ "y": 1.315000057220459,
1026
+ "z": 1.484620451927185
1027
+ },
1028
+ "size": {
1029
+ "x": 0.11775388568639755,
1030
+ "y": 0.12123823165893555,
1031
+ "z": 0.030759096145629883
1032
+ }
1033
+ },
1034
+ "objectOrientedBoundingBox": null
1035
+ }
1036
+ },
1037
+ {
1038
+ "objectId": "TennisRacket|-01.24|+00.32|-00.07",
1039
+ "object_info": {
1040
+ "name": "TennisRacket_ae57a35a",
1041
+ "position": {
1042
+ "x": -1.2368144989013672,
1043
+ "y": 0.31803423166275024,
1044
+ "z": -0.06861582398414612
1045
+ },
1046
+ "rotation": {
1047
+ "x": 285.0068359375,
1048
+ "y": 187.89158630371094,
1049
+ "z": 172.5447540283203
1050
+ },
1051
+ "visible": false,
1052
+ "isInteractable": false,
1053
+ "receptacle": false,
1054
+ "toggleable": false,
1055
+ "isToggled": false,
1056
+ "breakable": false,
1057
+ "isBroken": false,
1058
+ "canFillWithLiquid": false,
1059
+ "isFilledWithLiquid": false,
1060
+ "fillLiquid": null,
1061
+ "dirtyable": false,
1062
+ "isDirty": false,
1063
+ "canBeUsedUp": false,
1064
+ "isUsedUp": false,
1065
+ "cookable": false,
1066
+ "isCooked": false,
1067
+ "temperature": "RoomTemp",
1068
+ "isHeatSource": false,
1069
+ "isColdSource": false,
1070
+ "sliceable": false,
1071
+ "isSliced": false,
1072
+ "openable": false,
1073
+ "isOpen": false,
1074
+ "openness": 0.0,
1075
+ "pickupable": true,
1076
+ "isPickedUp": false,
1077
+ "moveable": false,
1078
+ "mass": 0.3100000023841858,
1079
+ "salientMaterials": [
1080
+ "Metal",
1081
+ "Plastic"
1082
+ ],
1083
+ "receptacleObjectIds": null,
1084
+ "distance": 1.369038462638855,
1085
+ "objectType": "TennisRacket",
1086
+ "objectId": "TennisRacket|-01.24|+00.32|-00.07",
1087
+ "assetId": "Tennis_Racquet_1",
1088
+ "parentReceptacles": [
1089
+ "Floor|+00.00|+00.00|+00.00"
1090
+ ],
1091
+ "controlledObjects": null,
1092
+ "isMoving": false,
1093
+ "axisAlignedBoundingBox": {
1094
+ "cornerPoints": [
1095
+ [
1096
+ -1.0993437767028809,
1097
+ 0.6421774625778198,
1098
+ 0.02435949444770813
1099
+ ],
1100
+ [
1101
+ -1.0993437767028809,
1102
+ 0.6421774625778198,
1103
+ -0.17469128966331482
1104
+ ],
1105
+ [
1106
+ -1.0993437767028809,
1107
+ -0.00012359023094177246,
1108
+ 0.02435949444770813
1109
+ ],
1110
+ [
1111
+ -1.0993437767028809,
1112
+ -0.00012359023094177246,
1113
+ -0.17469128966331482
1114
+ ],
1115
+ [
1116
+ -1.3617429733276367,
1117
+ 0.6421774625778198,
1118
+ 0.02435949444770813
1119
+ ],
1120
+ [
1121
+ -1.3617429733276367,
1122
+ 0.6421774625778198,
1123
+ -0.17469128966331482
1124
+ ],
1125
+ [
1126
+ -1.3617429733276367,
1127
+ -0.00012359023094177246,
1128
+ 0.02435949444770813
1129
+ ],
1130
+ [
1131
+ -1.3617429733276367,
1132
+ -0.00012359023094177246,
1133
+ -0.17469128966331482
1134
+ ]
1135
+ ],
1136
+ "center": {
1137
+ "x": -1.2305433750152588,
1138
+ "y": 0.3210269510746002,
1139
+ "z": -0.07516589760780334
1140
+ },
1141
+ "size": {
1142
+ "x": 0.26239919662475586,
1143
+ "y": 0.642301082611084,
1144
+ "z": 0.19905078411102295
1145
+ }
1146
+ },
1147
+ "objectOrientedBoundingBox": {
1148
+ "cornerPoints": [
1149
+ [
1150
+ -1.121067762374878,
1151
+ 0.6456720232963562,
1152
+ -0.13305240869522095
1153
+ ],
1154
+ [
1155
+ -1.3766573667526245,
1156
+ 0.6370794773101807,
1157
+ -0.12998363375663757
1158
+ ],
1159
+ [
1160
+ -1.3534431457519531,
1161
+ 0.006373554468154907,
1162
+ 0.037493109703063965
1163
+ ],
1164
+ [
1165
+ -1.097853422164917,
1166
+ 0.014966130256652832,
1167
+ 0.03442433476448059
1168
+ ],
1169
+ [
1170
+ -1.121199607849121,
1171
+ 0.6342790126800537,
1172
+ -0.1759394407272339
1173
+ ],
1174
+ [
1175
+ -1.3767893314361572,
1176
+ 0.6256864666938782,
1177
+ -0.1728706657886505
1178
+ ],
1179
+ [
1180
+ -1.3535751104354858,
1181
+ -0.005019456148147583,
1182
+ -0.005393922328948975
1183
+ ],
1184
+ [
1185
+ -1.0979853868484497,
1186
+ 0.003573119640350342,
1187
+ -0.008462697267532349
1188
+ ]
1189
+ ]
1190
+ }
1191
+ }
1192
+ },
1193
+ {
1194
+ "objectId": "Laptop|-01.04|+00.79|-01.51",
1195
+ "object_info": {
1196
+ "name": "Laptop_044c100c",
1197
+ "position": {
1198
+ "x": -1.038210153579712,
1199
+ "y": 0.7894067168235779,
1200
+ "z": -1.5061670541763306
1201
+ },
1202
+ "rotation": {
1203
+ "x": 359.2748107910156,
1204
+ "y": 30.336620330810547,
1205
+ "z": 0.34101602435112
1206
+ },
1207
+ "visible": false,
1208
+ "isInteractable": false,
1209
+ "receptacle": false,
1210
+ "toggleable": true,
1211
+ "isToggled": false,
1212
+ "breakable": true,
1213
+ "isBroken": false,
1214
+ "canFillWithLiquid": false,
1215
+ "isFilledWithLiquid": false,
1216
+ "fillLiquid": null,
1217
+ "dirtyable": false,
1218
+ "isDirty": false,
1219
+ "canBeUsedUp": false,
1220
+ "isUsedUp": false,
1221
+ "cookable": false,
1222
+ "isCooked": false,
1223
+ "temperature": "RoomTemp",
1224
+ "isHeatSource": false,
1225
+ "isColdSource": false,
1226
+ "sliceable": false,
1227
+ "isSliced": false,
1228
+ "openable": true,
1229
+ "isOpen": true,
1230
+ "openness": 1.0,
1231
+ "pickupable": true,
1232
+ "isPickedUp": false,
1233
+ "moveable": false,
1234
+ "mass": 2.299999952316284,
1235
+ "salientMaterials": [
1236
+ "Metal",
1237
+ "Plastic",
1238
+ "Glass"
1239
+ ],
1240
+ "receptacleObjectIds": null,
1241
+ "distance": 1.8327226638793945,
1242
+ "objectType": "Laptop",
1243
+ "objectId": "Laptop|-01.04|+00.79|-01.51",
1244
+ "assetId": "Laptop_2",
1245
+ "parentReceptacles": [
1246
+ "Desk|-00.79|+00.00|-01.03"
1247
+ ],
1248
+ "controlledObjects": [],
1249
+ "isMoving": false,
1250
+ "axisAlignedBoundingBox": {
1251
+ "cornerPoints": [
1252
+ [
1253
+ -0.8132658004760742,
1254
+ 1.0719794034957886,
1255
+ -1.2931039333343506
1256
+ ],
1257
+ [
1258
+ -0.8132658004760742,
1259
+ 1.0719794034957886,
1260
+ -1.7145462036132812
1261
+ ],
1262
+ [
1263
+ -0.8132658004760742,
1264
+ 0.7866829633712769,
1265
+ -1.2931039333343506
1266
+ ],
1267
+ [
1268
+ -0.8132658004760742,
1269
+ 0.7866829633712769,
1270
+ -1.7145462036132812
1271
+ ],
1272
+ [
1273
+ -1.262366771697998,
1274
+ 1.0719794034957886,
1275
+ -1.2931039333343506
1276
+ ],
1277
+ [
1278
+ -1.262366771697998,
1279
+ 1.0719794034957886,
1280
+ -1.7145462036132812
1281
+ ],
1282
+ [
1283
+ -1.262366771697998,
1284
+ 0.7866829633712769,
1285
+ -1.2931039333343506
1286
+ ],
1287
+ [
1288
+ -1.262366771697998,
1289
+ 0.7866829633712769,
1290
+ -1.7145462036132812
1291
+ ]
1292
+ ],
1293
+ "center": {
1294
+ "x": -1.0378162860870361,
1295
+ "y": 0.9293311834335327,
1296
+ "z": -1.503825068473816
1297
+ },
1298
+ "size": {
1299
+ "x": 0.44910097122192383,
1300
+ "y": 0.2852964401245117,
1301
+ "z": 0.42144227027893066
1302
+ }
1303
+ },
1304
+ "objectOrientedBoundingBox": {
1305
+ "cornerPoints": [
1306
+ [
1307
+ -0.8132659196853638,
1308
+ 0.7922695875167847,
1309
+ -1.4716135263442993
1310
+ ],
1311
+ [
1312
+ -1.1182472705841064,
1313
+ 0.7901657819747925,
1314
+ -1.2931039333343506
1315
+ ],
1316
+ [
1317
+ -1.259106159210205,
1318
+ 0.7866412401199341,
1319
+ -1.5338010787963867
1320
+ ],
1321
+ [
1322
+ -0.9541248679161072,
1323
+ 0.7887450456619263,
1324
+ -1.7123106718063354
1325
+ ],
1326
+ [
1327
+ -0.8165266513824463,
1328
+ 1.0752654075622559,
1329
+ -1.4738491773605347
1330
+ ],
1331
+ [
1332
+ -1.121508002281189,
1333
+ 1.0731616020202637,
1334
+ -1.295339584350586
1335
+ ],
1336
+ [
1337
+ -1.2623668909072876,
1338
+ 1.0696370601654053,
1339
+ -1.5360368490219116
1340
+ ],
1341
+ [
1342
+ -0.9573855996131897,
1343
+ 1.0717408657073975,
1344
+ -1.7145463228225708
1345
+ ]
1346
+ ]
1347
+ }
1348
+ }
1349
+ },
1350
+ {
1351
+ "objectId": "Drawer|+00.30|+00.16|+01.16",
1352
+ "object_info": {
1353
+ "name": "Drawer_dd2e4116",
1354
+ "position": {
1355
+ "x": 0.3047027587890625,
1356
+ "y": 0.16342967748641968,
1357
+ "z": 1.1591771841049194
1358
+ },
1359
+ "rotation": {
1360
+ "x": -0.001957286847755313,
1361
+ "y": 180.0015106201172,
1362
+ "z": 0.0008084956207312644
1363
+ },
1364
+ "visible": false,
1365
+ "isInteractable": false,
1366
+ "receptacle": true,
1367
+ "toggleable": false,
1368
+ "isToggled": false,
1369
+ "breakable": false,
1370
+ "isBroken": false,
1371
+ "canFillWithLiquid": false,
1372
+ "isFilledWithLiquid": false,
1373
+ "fillLiquid": null,
1374
+ "dirtyable": false,
1375
+ "isDirty": false,
1376
+ "canBeUsedUp": false,
1377
+ "isUsedUp": false,
1378
+ "cookable": false,
1379
+ "isCooked": false,
1380
+ "temperature": "RoomTemp",
1381
+ "isHeatSource": false,
1382
+ "isColdSource": false,
1383
+ "sliceable": false,
1384
+ "isSliced": false,
1385
+ "openable": true,
1386
+ "isOpen": false,
1387
+ "openness": 0.0,
1388
+ "pickupable": false,
1389
+ "isPickedUp": false,
1390
+ "moveable": false,
1391
+ "mass": 0.0,
1392
+ "salientMaterials": null,
1393
+ "receptacleObjectIds": [],
1394
+ "distance": 1.407318115234375,
1395
+ "objectType": "Drawer",
1396
+ "objectId": "Drawer|+00.30|+00.16|+01.16",
1397
+ "assetId": "",
1398
+ "parentReceptacles": [
1399
+ "Floor|+00.00|+00.00|+00.00"
1400
+ ],
1401
+ "controlledObjects": null,
1402
+ "isMoving": false,
1403
+ "axisAlignedBoundingBox": {
1404
+ "cornerPoints": [
1405
+ [
1406
+ 0.566263735294342,
1407
+ 0.3313511610031128,
1408
+ 1.2817304134368896
1409
+ ],
1410
+ [
1411
+ 0.566263735294342,
1412
+ 0.3313511610031128,
1413
+ 1.035205364227295
1414
+ ],
1415
+ [
1416
+ 0.566263735294342,
1417
+ 0.0345589816570282,
1418
+ 1.2817304134368896
1419
+ ],
1420
+ [
1421
+ 0.566263735294342,
1422
+ 0.0345589816570282,
1423
+ 1.035205364227295
1424
+ ],
1425
+ [
1426
+ 0.04312926530838013,
1427
+ 0.3313511610031128,
1428
+ 1.2817304134368896
1429
+ ],
1430
+ [
1431
+ 0.04312926530838013,
1432
+ 0.3313511610031128,
1433
+ 1.035205364227295
1434
+ ],
1435
+ [
1436
+ 0.04312926530838013,
1437
+ 0.0345589816570282,
1438
+ 1.2817304134368896
1439
+ ],
1440
+ [
1441
+ 0.04312926530838013,
1442
+ 0.0345589816570282,
1443
+ 1.035205364227295
1444
+ ]
1445
+ ],
1446
+ "center": {
1447
+ "x": 0.3046965003013611,
1448
+ "y": 0.1829550713300705,
1449
+ "z": 1.1584678888320923
1450
+ },
1451
+ "size": {
1452
+ "x": 0.5231344699859619,
1453
+ "y": 0.2967921793460846,
1454
+ "z": 0.24652504920959473
1455
+ }
1456
+ },
1457
+ "objectOrientedBoundingBox": null
1458
+ }
1459
+ },
1460
+ {
1461
+ "objectId": "SideTable|+00.30|00.00|+01.23",
1462
+ "object_info": {
1463
+ "name": "SideTable_e5d2b9bb",
1464
+ "position": {
1465
+ "x": 0.3049811124801636,
1466
+ "y": -0.001862645149230957,
1467
+ "z": 1.2259849309921265
1468
+ },
1469
+ "rotation": {
1470
+ "x": -0.001957286847755313,
1471
+ "y": 180.0015106201172,
1472
+ "z": 0.0008084956207312644
1473
+ },
1474
+ "visible": false,
1475
+ "isInteractable": false,
1476
+ "receptacle": true,
1477
+ "toggleable": false,
1478
+ "isToggled": false,
1479
+ "breakable": false,
1480
+ "isBroken": false,
1481
+ "canFillWithLiquid": false,
1482
+ "isFilledWithLiquid": false,
1483
+ "fillLiquid": null,
1484
+ "dirtyable": false,
1485
+ "isDirty": false,
1486
+ "canBeUsedUp": false,
1487
+ "isUsedUp": false,
1488
+ "cookable": false,
1489
+ "isCooked": false,
1490
+ "temperature": "RoomTemp",
1491
+ "isHeatSource": false,
1492
+ "isColdSource": false,
1493
+ "sliceable": false,
1494
+ "isSliced": false,
1495
+ "openable": false,
1496
+ "isOpen": false,
1497
+ "openness": 0.0,
1498
+ "pickupable": false,
1499
+ "isPickedUp": false,
1500
+ "moveable": true,
1501
+ "mass": 11.0,
1502
+ "salientMaterials": [
1503
+ "Metal"
1504
+ ],
1505
+ "receptacleObjectIds": [
1506
+ "DeskLamp|+00.47|+00.67|+01.35"
1507
+ ],
1508
+ "distance": 1.5528078079223633,
1509
+ "objectType": "SideTable",
1510
+ "objectId": "SideTable|+00.30|00.00|+01.23",
1511
+ "assetId": "Side_Table_302_1_1",
1512
+ "parentReceptacles": [
1513
+ "Floor|+00.00|+00.00|+00.00"
1514
+ ],
1515
+ "controlledObjects": null,
1516
+ "isMoving": false,
1517
+ "axisAlignedBoundingBox": {
1518
+ "cornerPoints": [
1519
+ [
1520
+ 0.6161160469055176,
1521
+ 0.6686114072799683,
1522
+ 1.4148297309875488
1523
+ ],
1524
+ [
1525
+ 0.6161160469055176,
1526
+ 0.6686114072799683,
1527
+ 1.0491373538970947
1528
+ ],
1529
+ [
1530
+ 0.6161160469055176,
1531
+ -4.827976226806641e-06,
1532
+ 1.4148297309875488
1533
+ ],
1534
+ [
1535
+ 0.6161160469055176,
1536
+ -4.827976226806641e-06,
1537
+ 1.0491373538970947
1538
+ ],
1539
+ [
1540
+ -0.0061644017696380615,
1541
+ 0.6686114072799683,
1542
+ 1.4148297309875488
1543
+ ],
1544
+ [
1545
+ -0.0061644017696380615,
1546
+ 0.6686114072799683,
1547
+ 1.0491373538970947
1548
+ ],
1549
+ [
1550
+ -0.0061644017696380615,
1551
+ -4.827976226806641e-06,
1552
+ 1.4148297309875488
1553
+ ],
1554
+ [
1555
+ -0.0061644017696380615,
1556
+ -4.827976226806641e-06,
1557
+ 1.0491373538970947
1558
+ ]
1559
+ ],
1560
+ "center": {
1561
+ "x": 0.30497583746910095,
1562
+ "y": 0.3343032896518707,
1563
+ "z": 1.2319835424423218
1564
+ },
1565
+ "size": {
1566
+ "x": 0.622280478477478,
1567
+ "y": 0.6686162352561951,
1568
+ "z": 0.3656923770904541
1569
+ }
1570
+ },
1571
+ "objectOrientedBoundingBox": {
1572
+ "cornerPoints": [
1573
+ [
1574
+ -0.006164729595184326,
1575
+ -3.1387899070978165e-06,
1576
+ 1.0491620302200317
1577
+ ],
1578
+ [
1579
+ 0.6161027550697327,
1580
+ -4.147063009440899e-06,
1581
+ 1.0491406917572021
1582
+ ],
1583
+ [
1584
+ 0.6161153316497803,
1585
+ -2.221902832388878e-06,
1586
+ 1.4148083925247192
1587
+ ],
1588
+ [
1589
+ -0.006152153015136719,
1590
+ -1.2136297300457954e-06,
1591
+ 1.4148298501968384
1592
+ ],
1593
+ [
1594
+ -0.006163656711578369,
1595
+ 0.6686108112335205,
1596
+ 1.0491585731506348
1597
+ ],
1598
+ [
1599
+ 0.6161038279533386,
1600
+ 0.6686098575592041,
1601
+ 1.0491371154785156
1602
+ ],
1603
+ [
1604
+ 0.6161164045333862,
1605
+ 0.6686118245124817,
1606
+ 1.4148049354553223
1607
+ ],
1608
+ [
1609
+ -0.006151080131530762,
1610
+ 0.6686127781867981,
1611
+ 1.4148262739181519
1612
+ ]
1613
+ ]
1614
+ }
1615
+ }
1616
+ },
1617
+ {
1618
+ "objectId": "CellPhone|-01.07|+00.80|-00.64",
1619
+ "object_info": {
1620
+ "name": "CellPhone_d688f9d9",
1621
+ "position": {
1622
+ "x": -1.0740317106246948,
1623
+ "y": 0.7958630323410034,
1624
+ "z": -0.6380314826965332
1625
+ },
1626
+ "rotation": {
1627
+ "x": 0.006098452024161816,
1628
+ "y": 146.07643127441406,
1629
+ "z": 359.2025451660156
1630
+ },
1631
+ "visible": false,
1632
+ "isInteractable": false,
1633
+ "receptacle": false,
1634
+ "toggleable": true,
1635
+ "isToggled": false,
1636
+ "breakable": true,
1637
+ "isBroken": false,
1638
+ "canFillWithLiquid": false,
1639
+ "isFilledWithLiquid": false,
1640
+ "fillLiquid": null,
1641
+ "dirtyable": false,
1642
+ "isDirty": false,
1643
+ "canBeUsedUp": false,
1644
+ "isUsedUp": false,
1645
+ "cookable": false,
1646
+ "isCooked": false,
1647
+ "temperature": "RoomTemp",
1648
+ "isHeatSource": false,
1649
+ "isColdSource": false,
1650
+ "sliceable": false,
1651
+ "isSliced": false,
1652
+ "openable": false,
1653
+ "isOpen": false,
1654
+ "openness": 0.0,
1655
+ "pickupable": true,
1656
+ "isPickedUp": false,
1657
+ "moveable": false,
1658
+ "mass": 0.1599999964237213,
1659
+ "salientMaterials": [
1660
+ "Metal",
1661
+ "Glass"
1662
+ ],
1663
+ "receptacleObjectIds": null,
1664
+ "distance": 1.2536673545837402,
1665
+ "objectType": "CellPhone",
1666
+ "objectId": "CellPhone|-01.07|+00.80|-00.64",
1667
+ "assetId": "Cellphone_2",
1668
+ "parentReceptacles": [
1669
+ "Desk|-00.79|+00.00|-01.03"
1670
+ ],
1671
+ "controlledObjects": [],
1672
+ "isMoving": false,
1673
+ "axisAlignedBoundingBox": {
1674
+ "cornerPoints": [
1675
+ [
1676
+ -0.9966343641281128,
1677
+ 0.8024857640266418,
1678
+ -0.549640953540802
1679
+ ],
1680
+ [
1681
+ -0.9966343641281128,
1682
+ 0.8024857640266418,
1683
+ -0.7267826199531555
1684
+ ],
1685
+ [
1686
+ -0.9966343641281128,
1687
+ 0.7952550053596497,
1688
+ -0.549640953540802
1689
+ ],
1690
+ [
1691
+ -0.9966343641281128,
1692
+ 0.7952550053596497,
1693
+ -0.7267826199531555
1694
+ ],
1695
+ [
1696
+ -1.1512879133224487,
1697
+ 0.8024857640266418,
1698
+ -0.549640953540802
1699
+ ],
1700
+ [
1701
+ -1.1512879133224487,
1702
+ 0.8024857640266418,
1703
+ -0.7267826199531555
1704
+ ],
1705
+ [
1706
+ -1.1512879133224487,
1707
+ 0.7952550053596497,
1708
+ -0.549640953540802
1709
+ ],
1710
+ [
1711
+ -1.1512879133224487,
1712
+ 0.7952550053596497,
1713
+ -0.7267826199531555
1714
+ ]
1715
+ ],
1716
+ "center": {
1717
+ "x": -1.0739611387252808,
1718
+ "y": 0.7988703846931458,
1719
+ "z": -0.6382117867469788
1720
+ },
1721
+ "size": {
1722
+ "x": 0.15465354919433594,
1723
+ "y": 0.0072307586669921875,
1724
+ "z": 0.17714166641235352
1725
+ }
1726
+ },
1727
+ "objectOrientedBoundingBox": {
1728
+ "cornerPoints": [
1729
+ [
1730
+ -1.0614113807678223,
1731
+ 0.7952548861503601,
1732
+ -0.726734459400177
1733
+ ],
1734
+ [
1735
+ -0.996634304523468,
1736
+ 0.7963414788246155,
1737
+ -0.6831673979759216
1738
+ ],
1739
+ [
1740
+ -1.0864403247833252,
1741
+ 0.7963586449623108,
1742
+ -0.5496410131454468
1743
+ ],
1744
+ [
1745
+ -1.1512174606323242,
1746
+ 0.7952719926834106,
1747
+ -0.5932080745697021
1748
+ ],
1749
+ [
1750
+ -1.0614818334579468,
1751
+ 0.8013822436332703,
1752
+ -0.7267826199531555
1753
+ ],
1754
+ [
1755
+ -0.9967046976089478,
1756
+ 0.8024688363075256,
1757
+ -0.6832154989242554
1758
+ ],
1759
+ [
1760
+ -1.0865107774734497,
1761
+ 0.802486002445221,
1762
+ -0.5496891140937805
1763
+ ],
1764
+ [
1765
+ -1.1512877941131592,
1766
+ 0.8013994097709656,
1767
+ -0.5932562351226807
1768
+ ]
1769
+ ]
1770
+ }
1771
+ }
1772
+ },
1773
+ {
1774
+ "objectId": "Pencil|-01.16|+00.80|-01.18",
1775
+ "object_info": {
1776
+ "name": "Pencil_84aef9b5",
1777
+ "position": {
1778
+ "x": -1.1593528985977173,
1779
+ "y": 0.7952955961227417,
1780
+ "z": -1.180025577545166
1781
+ },
1782
+ "rotation": {
1783
+ "x": 0.7953882813453674,
1784
+ "y": 239.443115234375,
1785
+ "z": 34.56989669799805
1786
+ },
1787
+ "visible": false,
1788
+ "isInteractable": false,
1789
+ "receptacle": false,
1790
+ "toggleable": false,
1791
+ "isToggled": false,
1792
+ "breakable": false,
1793
+ "isBroken": false,
1794
+ "canFillWithLiquid": false,
1795
+ "isFilledWithLiquid": false,
1796
+ "fillLiquid": null,
1797
+ "dirtyable": false,
1798
+ "isDirty": false,
1799
+ "canBeUsedUp": false,
1800
+ "isUsedUp": false,
1801
+ "cookable": false,
1802
+ "isCooked": false,
1803
+ "temperature": "RoomTemp",
1804
+ "isHeatSource": false,
1805
+ "isColdSource": false,
1806
+ "sliceable": false,
1807
+ "isSliced": false,
1808
+ "openable": false,
1809
+ "isOpen": false,
1810
+ "openness": 0.0,
1811
+ "pickupable": true,
1812
+ "isPickedUp": false,
1813
+ "moveable": false,
1814
+ "mass": 0.005999999586492777,
1815
+ "salientMaterials": [
1816
+ "Wood"
1817
+ ],
1818
+ "receptacleObjectIds": null,
1819
+ "distance": 1.6576286554336548,
1820
+ "objectType": "Pencil",
1821
+ "objectId": "Pencil|-01.16|+00.80|-01.18",
1822
+ "assetId": "Pencil_2",
1823
+ "parentReceptacles": [
1824
+ "Desk|-00.79|+00.00|-01.03"
1825
+ ],
1826
+ "controlledObjects": null,
1827
+ "isMoving": false,
1828
+ "axisAlignedBoundingBox": {
1829
+ "cornerPoints": [
1830
+ [
1831
+ -1.0767266750335693,
1832
+ 0.8012788891792297,
1833
+ -1.129307746887207
1834
+ ],
1835
+ [
1836
+ -1.0767266750335693,
1837
+ 0.8012788891792297,
1838
+ -1.2339882850646973
1839
+ ],
1840
+ [
1841
+ -1.0767266750335693,
1842
+ 0.789223849773407,
1843
+ -1.129307746887207
1844
+ ],
1845
+ [
1846
+ -1.0767266750335693,
1847
+ 0.789223849773407,
1848
+ -1.2339882850646973
1849
+ ],
1850
+ [
1851
+ -1.2474753856658936,
1852
+ 0.8012788891792297,
1853
+ -1.129307746887207
1854
+ ],
1855
+ [
1856
+ -1.2474753856658936,
1857
+ 0.8012788891792297,
1858
+ -1.2339882850646973
1859
+ ],
1860
+ [
1861
+ -1.2474753856658936,
1862
+ 0.789223849773407,
1863
+ -1.129307746887207
1864
+ ],
1865
+ [
1866
+ -1.2474753856658936,
1867
+ 0.789223849773407,
1868
+ -1.2339882850646973
1869
+ ]
1870
+ ],
1871
+ "center": {
1872
+ "x": -1.1621010303497314,
1873
+ "y": 0.7952513694763184,
1874
+ "z": -1.1816480159759521
1875
+ },
1876
+ "size": {
1877
+ "x": 0.17074871063232422,
1878
+ "y": 0.012055039405822754,
1879
+ "z": 0.10468053817749023
1880
+ }
1881
+ },
1882
+ "objectOrientedBoundingBox": {
1883
+ "cornerPoints": [
1884
+ [
1885
+ -1.2501469850540161,
1886
+ 0.7926750183105469,
1887
+ -1.2259929180145264
1888
+ ],
1889
+ [
1890
+ -1.2461246252059937,
1891
+ 0.7873105406761169,
1892
+ -1.2326595783233643
1893
+ ],
1894
+ [
1895
+ -1.0766898393630981,
1896
+ 0.7900422215461731,
1897
+ -1.132628083229065
1898
+ ],
1899
+ [
1900
+ -1.0807121992111206,
1901
+ 0.7954066395759583,
1902
+ -1.1259615421295166
1903
+ ],
1904
+ [
1905
+ -1.2475123405456543,
1906
+ 0.8004603981971741,
1907
+ -1.230668067932129
1908
+ ],
1909
+ [
1910
+ -1.2434899806976318,
1911
+ 0.7950959801673889,
1912
+ -1.2373346090316772
1913
+ ],
1914
+ [
1915
+ -1.0740551948547363,
1916
+ 0.7978276014328003,
1917
+ -1.1373032331466675
1918
+ ],
1919
+ [
1920
+ -1.0780775547027588,
1921
+ 0.8031920194625854,
1922
+ -1.1306365728378296
1923
+ ]
1924
+ ]
1925
+ }
1926
+ }
1927
+ }
1928
+ ],
1929
+ "Agent": {
1930
+ "agent_position": {
1931
+ "x": 0.10000000149011612,
1932
+ "y": 0.9009991884231567,
1933
+ "z": -1.100000023841858
1934
+ },
1935
+ "agent_rotation": {
1936
+ "x": -0.0,
1937
+ "y": 311.0,
1938
+ "z": 0.0
1939
+ },
1940
+ "agent_cameraHorizon": 0.0,
1941
+ "agent_isStanding": true,
1942
+ "agent_inHighFrictionArea": false
1943
+ },
1944
+ "camera_info": {
1945
+ "cameraPosition": {
1946
+ "x": 0.10000000149011612,
1947
+ "y": 1.5759992599487305,
1948
+ "z": -1.100000023841858
1949
+ },
1950
+ "cameraOrthSize": -1.0,
1951
+ "fov": 90.0
1952
+ },
1953
+ "common_object": [
1954
+ "Desk|-00.79|+00.00|-01.03",
1955
+ "Pencil|-01.16|+00.80|-01.18",
1956
+ "Pen|-01.13|+00.80|-01.24",
1957
+ "CellPhone|-01.07|+00.80|-00.64",
1958
+ "Shelf|-01.29|+01.45|-00.60",
1959
+ "Laptop|-01.04|+00.79|-01.51",
1960
+ "Shelf|-01.29|+01.45|-01.34",
1961
+ "Shelf|-01.29|+01.81|-00.60",
1962
+ "Shelf|-01.29|+01.81|-01.34"
1963
+ ],
1964
+ "different_object": [
1965
+ "SideTable|+00.30|00.00|+01.23",
1966
+ "Mirror|-01.38|+01.57|+00.51",
1967
+ "LightSwitch|+00.01|+01.32|+01.50",
1968
+ "TennisRacket|-01.24|+00.32|-00.07",
1969
+ "Drawer|+00.30|+00.46|+01.16",
1970
+ "Drawer|+00.30|+00.16|+01.16"
1971
+ ]
1972
+ }
train/FloorPlan302/10/0_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:959c2613784d7aa268a71e31d506af660f3ae5f5b598dc61cd863878d29072bd
3
+ size 3145856
train/FloorPlan302/10/0_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:33d79a26c236cf6ef67bfed27994fa75cead17498913bf1a8cc631de3af12da5
3
+ size 2359424
train/FloorPlan302/10/1.json ADDED
The diff for this file is too large to render. See raw diff
 
train/FloorPlan302/10/1_depth_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d43ddeac1522d8c93fad4b85ad145acc73ac247786bf68bb6cbb251585e04bb9
3
+ size 3145856
train/FloorPlan302/10/1_semantic_sensor_npy.npy ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:80aa253587b799311f50732c0c7a13c1979ed43cbf1eb8d029c9e25afef7d600
3
+ size 2359424
train/FloorPlan302/10/depth_0.png ADDED
train/FloorPlan302/10/depth_1.png ADDED