diff --git a/.gitattributes b/.gitattributes index 517bc9b49b4d83bf1b7515410483fe5d57af3651..bf1c300132edccb17495c9fe00d572667e3f0e89 100644 --- a/.gitattributes +++ b/.gitattributes @@ -54131,3 +54131,272 @@ train/train616/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text train/train616/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text train/train616/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text train/train616/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train616/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text +train/train616/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train616/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train616/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train616/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train616/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train616/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train616/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train616/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train616/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train616/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train616/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train616/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train616/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train616/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train616/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train616/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train616/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1202/top_down_image.png filter=lfs diff=lfs merge=lfs -text +train/train1202/3/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/3/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1202/3/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/3/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/3/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/3/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1202/4/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/4/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1202/4/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/4/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/4/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/4/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1202/0/rgb_1_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train1202/0/rgb_0_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train1202/0/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/0/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1202/0/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/0/rgb_1_mask_DiningTable|4|1|0.png filter=lfs diff=lfs merge=lfs -text +train/train1202/0/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/0/rgb_1_mask_Chair|4|1|1.png filter=lfs diff=lfs merge=lfs -text +train/train1202/0/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/0/rgb_0_mask_Fridge|2|1.png filter=lfs diff=lfs merge=lfs -text +train/train1202/0/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1202/1/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/1/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1202/1/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/1/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/1/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/1/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/train1202/2/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/2/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/train1202/2/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/2/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/2/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/train1202/2/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/35/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/35/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/35/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/35/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/35/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/35/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/35/rgb_0_mask_Window|-02.00|+01.51|-01.93.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/13/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/13/rgb_1_mask_Chair|+01.46|00.00|+00.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/13/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/13/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/13/rgb_0_mask_DiningTable|+01.88|+00.00|-00.29.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/13/rgb_0_mask_Chair|+02.22|00.00|+00.15.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/13/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/13/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/13/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/9/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/9/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/9/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/9/rgb_1_mask_Chair|+01.64|00.00|-00.85.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/9/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/9/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/9/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/9/rgb_1_mask_Window|-02.00|+01.51|-01.93.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/9/rgb_0_mask_Window|-02.00|+01.51|-01.93.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/16/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/16/rgb_0_mask_Sofa|-03.42|+00.01|-00.04.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/16/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/16/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/16/rgb_1_mask_SideTable|-03.60|+00.00|+01.44.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/16/rgb_1_mask_Statue|-03.59|+00.60|+01.43.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/16/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/16/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/16/rgb_0_mask_Statue|-03.59|+00.60|+01.43.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/16/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/16/rgb_0_mask_SideTable|-03.60|+00.00|+01.44.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/14/rgb_1_mask_Painting|-00.06|+01.60|+01.73.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/14/rgb_0_mask_Painting|-00.06|+01.60|+01.73.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/14/rgb_1_mask_ArmChair|-00.44|+00.01|+01.92.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/14/rgb_0_mask_FloorLamp|-00.33|+00.00|+02.73.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/14/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/14/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/14/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/14/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/14/rgb_1_mask_FloorLamp|-00.33|+00.00|+02.73.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/14/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/14/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/14/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/32/rgb_1_mask_Painting|-00.06|+01.60|+01.73.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/32/rgb_0_mask_Painting|-00.06|+01.60|+01.73.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/32/rgb_1_mask_ArmChair|-00.44|+00.01|+01.92.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/32/rgb_0_mask_ArmChair|-00.43|+00.01|+01.06.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/32/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/32/rgb_1_mask_ArmChair|-00.43|+00.01|+01.06.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/32/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/32/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/32/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/32/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/32/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/32/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/48/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/48/rgb_1_mask_Chair|+01.46|00.00|+00.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/48/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/48/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/48/rgb_0_mask_Chair|+02.22|00.00|+00.15.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/48/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/48/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/48/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/48/rgb_1_mask_Vase|+01.84|+00.78|-00.30.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/26/rgb_0_mask_ArmChair|-00.43|+00.01|+01.06.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/26/rgb_1_mask_Sofa|-03.42|+00.01|-00.04.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/26/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/26/rgb_1_mask_CoffeeTable|-02.02|+00.01|+00.02.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/26/rgb_1_mask_ArmChair|-00.43|+00.01|+01.06.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/26/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/26/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/26/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/26/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/26/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/23/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/23/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/23/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/23/rgb_0_mask_Chair|+02.22|00.00|+00.15.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/23/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/23/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/23/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/23/rgb_0_mask_Vase|+01.84|+00.78|-00.30.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/23/rgb_1_mask_Chair|+02.29|00.00|-00.78.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/33/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/33/rgb_0_mask_Sofa|-03.42|+00.01|-00.04.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/33/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/33/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/33/rgb_0_mask_Chair|+02.22|00.00|+00.15.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/33/rgb_0_mask_Box|+01.27|+00.15|-00.29.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/33/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/33/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/33/rgb_1_mask_Chair|+02.22|00.00|+00.15.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/33/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/38/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/38/rgb_0_mask_Chair|+02.29|00.00|-00.78.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/38/rgb_0_mask_Chair|+01.64|00.00|-00.85.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/38/rgb_1_mask_Plate|+01.36|+00.78|-00.62.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/38/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/38/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/38/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/38/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/38/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/38/rgb_1_mask_Vase|+01.84|+00.78|-00.30.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/38/rgb_0_mask_Plate|+01.36|+00.78|-00.62.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/38/rgb_1_mask_Window|+03.48|+01.51|-01.93.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/38/rgb_0_mask_Window|+03.48|+01.51|-01.93.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/38/rgb_1_mask_Chair|+02.29|00.00|-00.78.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/36/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/36/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/36/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/36/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/36/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/36/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/20/rgb_0_mask_ArmChair|-00.43|+00.01|+01.06.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/20/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/20/rgb_1_mask_Laptop|-02.02|+00.45|-00.12.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/20/rgb_0_mask_Laptop|-02.02|+00.45|-00.12.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/20/rgb_1_mask_Chair|+01.46|00.00|+00.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/20/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/20/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/20/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/20/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/20/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/20/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/20/rgb_1_mask_DiningTable|+01.88|+00.00|-00.29.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/42/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/42/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/42/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/42/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/42/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/42/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/49/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/49/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/49/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/49/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/49/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/49/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/49/rgb_1_mask_Window|-02.00|+01.51|-01.93.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/49/rgb_0_mask_Window|-02.00|+01.51|-01.93.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/49/rgb_0_mask_Pillow|-01.93|+00.37|-01.49.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/44/rgb_1_mask_Painting|-00.06|+01.60|+01.73.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/44/rgb_0_mask_Painting|-00.06|+01.60|+01.73.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/44/rgb_1_mask_ArmChair|-00.44|+00.01|+01.92.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/44/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/44/rgb_1_mask_ArmChair|-00.43|+00.01|+01.06.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/44/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/44/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/44/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/44/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/44/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/44/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/34/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/34/rgb_0_mask_Chair|+01.46|00.00|+00.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/34/rgb_1_mask_Chair|+01.46|00.00|+00.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/34/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/34/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/34/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/34/rgb_1_mask_Vase|+01.57|+00.78|-00.31.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/34/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/34/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/34/rgb_1_mask_Vase|+01.84|+00.78|-00.30.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/34/rgb_0_mask_Vase|+01.84|+00.78|-00.30.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/15/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/15/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/15/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/15/rgb_1_mask_Chair|+01.64|00.00|-00.85.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/15/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/15/rgb_0_mask_CoffeeTable|-02.02|+00.01|+00.02.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/15/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/15/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/22/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/22/rgb_0_mask_Sofa|-03.42|+00.01|-00.04.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/22/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/22/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/22/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/22/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/22/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/22/rgb_0_mask_GarbageCan|+00.30|+00.00|+01.25.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/22/rgb_1_mask_GarbageCan|+00.30|+00.00|+01.25.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/37/rgb_1_mask_Window|+01.48|+01.51|-01.93.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/37/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/37/rgb_0_mask_Chair|+02.29|00.00|-00.78.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/37/rgb_0_mask_Chair|+01.46|00.00|+00.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/37/rgb_1_mask_Chair|+01.46|00.00|+00.20.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/37/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/37/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/37/rgb_1_mask_Box|+01.27|+00.15|-00.29.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/37/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/37/rgb_0_mask_Window|+01.48|+01.51|-01.93.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/37/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/37/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/37/rgb_1_mask_Window|+03.48|+01.51|-01.93.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/37/rgb_0_mask_Window|+03.48|+01.51|-01.93.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/27/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/27/rgb_0_mask_Chair|+02.29|00.00|-00.78.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/27/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/27/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/27/rgb_1_mask_Box|+01.27|+00.15|-00.29.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/27/rgb_0_mask_Chair|+02.22|00.00|+00.15.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/27/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/27/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/27/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/17/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/17/rgb_1.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/17/0_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/17/1_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/17/0_depth_npy.npy filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/17/rgb_0.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/46/rgb_1_mask_Window|+01.48|+01.51|-01.93.png filter=lfs diff=lfs merge=lfs -text +train/FloorPlan223_physics/46/1_semantic_sensor_npy.npy filter=lfs diff=lfs merge=lfs -text diff --git a/train/FloorPlan223_physics/13/0.json b/train/FloorPlan223_physics/13/0.json new file mode 100644 index 0000000000000000000000000000000000000000..337494227e71c00280113544e64858a673a9c915 --- /dev/null +++ b/train/FloorPlan223_physics/13/0.json @@ -0,0 +1,1202 @@ +{ + "object": [ + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "object_info": { + "name": "FloorLamp_3964945b", + "position": { + "x": -0.33106115460395813, + "y": 0.0020943880081176758, + "z": 2.728121280670166 + }, + "rotation": { + "x": 0.028233468532562256, + "y": 359.9642333984375, + "z": 0.0124844741076231 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.8773627281188965, + "objectType": "FloorLamp", + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "assetId": "Floor_Lamp_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07376223802566528, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.470034599304199 + ] + ], + "center": { + "x": -0.33205798268318176, + "y": 0.9319358468055725, + "z": 2.7284581661224365 + }, + "size": { + "x": 0.516591489315033, + "y": 1.8638250827789307, + "z": 0.5168471336364746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.07385668158531189, + 4.743225872516632e-05, + 2.9870007038116455 + ], + [ + -0.5905872583389282, + -2.8995331376791e-05, + 2.986692190170288 + ], + [ + -0.5902788639068604, + 0.00010942760854959488, + 2.4699525833129883 + ], + [ + -0.0735483169555664, + 0.00018585508223623037, + 2.4702610969543457 + ], + [ + -0.07413265109062195, + 1.8638358116149902, + 2.987499713897705 + ], + [ + -0.5908632278442383, + 1.8637592792510986, + 2.9871912002563477 + ], + [ + -0.5905548334121704, + 1.8638978004455566, + 2.470451593399048 + ], + [ + -0.07382425665855408, + 1.8639740943908691, + 2.4707601070404053 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "object_info": { + "name": "ArmChair_4b8c6e75", + "position": { + "x": -0.43700525164604187, + "y": 0.005729973316192627, + "z": 1.9230469465255737 + }, + "rotation": { + "x": 4.141504905419424e-05, + "y": 270.00018310546875, + "z": -0.0001669862394919619 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1221652030944824, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04723113775253296, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.04723113775253296, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 1.5481648445129395 + ] + ], + "center": { + "x": -0.43125927448272705, + "y": 0.3626064956188202, + "z": 1.9265482425689697 + }, + "size": { + "x": 0.7680562734603882, + "y": 0.7252018451690674, + "z": 0.7567667961120605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8153156042098999, + 1.087365671992302e-05, + 2.3049323558807373 + ], + [ + -0.8153178691864014, + 1.3908371329307556e-05, + 1.5481648445129395 + ], + [ + -0.04725685715675354, + 1.4075078070163727e-05, + 1.548162579536438 + ], + [ + -0.04725465178489685, + 1.104036346077919e-05, + 2.3049302101135254 + ], + [ + -0.8153157830238342, + 0.7252148985862732, + 2.3049352169036865 + ], + [ + -0.8153179883956909, + 0.7252179384231567, + 1.5481677055358887 + ], + [ + -0.04725700616836548, + 0.7252180576324463, + 1.5481654405593872 + ], + [ + -0.04725480079650879, + 0.7252150177955627, + 2.3049330711364746 + ] + ] + } + } + }, + { + "objectId": "Painting|-00.06|+01.60|+01.73", + "object_info": { + "name": "Painting_9a6f96ff", + "position": { + "x": -0.0560000017285347, + "y": 1.6019999980926514, + "z": 1.7330000400543213 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9214128255844116, + "objectType": "Painting", + "objectId": "Painting|-00.06|+01.60|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.02334464341402054, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 2.0239996910095215, + 1.168489694595337 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 1.168489694595337 + ] + ], + "center": { + "x": -0.02120792120695114, + "y": 1.598686695098877, + "z": 1.7579162120819092 + }, + "size": { + "x": 0.08910512924194336, + "y": 0.8506259918212891, + "z": 1.1788530349731445 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|+04.14|+01.59|-00.30", + "object_info": { + "name": "Painting_984aa9d5", + "position": { + "x": 4.136000156402588, + "y": 1.590999960899353, + "z": -0.296999990940094 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.696467399597168, + "objectType": "Painting", + "objectId": "Painting|+04.14|+01.59|-00.30", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.215344429016113, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.215344429016113, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 1.1690006256103516, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 1.1690006256103516, + -0.8613617420196533 + ] + ], + "center": { + "x": 4.170792102813721, + "y": 1.5914161205291748, + "z": -0.27200978994369507 + }, + "size": { + "x": 0.08910465240478516, + "y": 0.8448309898376465, + "z": 1.1787039041519165 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -0.30000001192092896, + "y": 0.9009991884231567, + "z": 0.20000000298023224 + }, + "agent_rotation": { + "x": -0.0, + "y": 47.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -0.30000001192092896, + "y": 1.5759992599487305, + "z": 0.20000000298023224 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|+02.22|00.00|+00.15", + "DiningTable|+01.88|+00.00|-00.29", + "Chair|+01.46|00.00|+00.20" + ], + "different_object": [ + "Painting|-00.06|+01.60|+01.73", + "ArmChair|-00.44|+00.01|+01.92", + "Painting|+04.14|+01.59|-00.30", + "FloorLamp|-00.33|+00.00|+02.73", + "ArmChair|-00.43|+00.01|+01.06" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/13/0_depth_npy.npy b/train/FloorPlan223_physics/13/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..edd24ddc87655830474b701d20489b051e50d71b --- /dev/null +++ b/train/FloorPlan223_physics/13/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f64f21324513e8876a38accc8977652d10a539b0c81a67f9c4c4baa4a5f05a7 +size 3145856 diff --git a/train/FloorPlan223_physics/13/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/13/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0d653a7f3c19039472a10be21a2148c6f3179849 --- /dev/null +++ b/train/FloorPlan223_physics/13/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b7dcc178f947fc303a7dd63aa6eac05a6793a52b77674b96e6f5703c9b2335a +size 2359424 diff --git a/train/FloorPlan223_physics/13/1.json b/train/FloorPlan223_physics/13/1.json new file mode 100644 index 0000000000000000000000000000000000000000..084b14389501476aed78e330e4983abb7b4ebf6d --- /dev/null +++ b/train/FloorPlan223_physics/13/1.json @@ -0,0 +1,2932 @@ +{ + "object": [ + { + "objectId": "WateringCan|-03.25|00.00|-01.86", + "object_info": { + "name": "WateringCan_31a595df", + "position": { + "x": -3.2522449493408203, + "y": -0.0008590668439865112, + "z": -1.8618444204330444 + }, + "rotation": { + "x": -0.0003620765928644687, + "y": -0.000614947231952101, + "z": 0.0007242992869578302 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.4430603981018066, + "objectType": "WateringCan", + "objectId": "WateringCan|-03.25|00.00|-01.86", + "assetId": "Watering_Can_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.176553726196289, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.9819858074188232 + ] + ], + "center": { + "x": -3.2522456645965576, + "y": 0.09692596644163132, + "z": -1.8485687971115112 + }, + "size": { + "x": 0.1513838768005371, + "y": 0.19385077059268951, + "z": 0.266834020614624 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1765549182891846, + 5.470355972647667e-07, + -1.715149998664856 + ], + [ + -3.3279380798339844, + -6.129266694188118e-07, + -1.7151516675949097 + ], + [ + -3.327935218811035, + -1.2035015970468521e-06, + -1.9819879531860352 + ], + [ + -3.1765518188476562, + -4.353933036327362e-08, + -1.9819862842559814 + ], + [ + -3.176556348800659, + 0.19385217130184174, + -1.7151503562927246 + ], + [ + -3.327939510345459, + 0.19385100901126862, + -1.7151521444320679 + ], + [ + -3.3279366493225098, + 0.19385041296482086, + -1.9819884300231934 + ], + [ + -3.17655348777771, + 0.19385157525539398, + -1.9819867610931396 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "object_info": { + "name": "GarbageCan_cf69fd43", + "position": { + "x": 0.29969024658203125, + "y": 7.18235969543457e-06, + "z": 1.2532256841659546 + }, + "rotation": { + "x": 0.0006593925645574927, + "y": 2.2150020599365234, + "z": -0.002282413886860013 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7383514642715454, + "objectType": "GarbageCan", + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4879261255264282, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.0650081634521484 + ] + ], + "center": { + "x": 0.2996993362903595, + "y": 0.32798317074775696, + "z": 1.2532281875610352 + }, + "size": { + "x": 0.37645357847213745, + "y": 0.6559673547744751, + "z": 0.37644004821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.49219784140586853, + -3.6668598113465123e-07, + 1.4313961267471313 + ], + [ + 0.12151965498924255, + 9.915489499690011e-06, + 1.4457334280014038 + ], + [ + 0.10718235373497009, + 1.3122078598826192e-05, + 1.0750552415847778 + ], + [ + 0.47786054015159607, + 2.839903572748881e-06, + 1.0607179403305054 + ], + [ + 0.49221622943878174, + 0.6559540033340454, + 1.431401014328003 + ], + [ + 0.12153804302215576, + 0.6559642553329468, + 1.4457383155822754 + ], + [ + 0.1072007417678833, + 0.6559674739837646, + 1.0750601291656494 + ], + [ + 0.4778789281845093, + 0.6559572219848633, + 1.060722827911377 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|-01.61", + "object_info": { + "name": "SideTable_32f926b8", + "position": { + "x": -3.597963809967041, + "y": 0.004360944032669067, + "z": -1.6070078611373901 + }, + "rotation": { + "x": 0.003428330644965172, + "y": 0.002825607778504491, + "z": 359.70733642578125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|-03.58|+00.60|-01.62" + ], + "distance": 3.6033060550689697, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|-01.61", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.425083637237549, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.425083637237549, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.7844332456588745 + ] + ], + "center": { + "x": -3.5953938961029053, + "y": 0.3019649386405945, + "z": -1.6094589233398438 + }, + "size": { + "x": 0.3406205177307129, + "y": 0.6039294004440308, + "z": 0.3499486446380615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425757646560669, + -0.0015295855700969696, + -1.434476375579834 + ], + [ + -3.7657032012939453, + 0.0001298254355788231, + -1.4344571828842163 + ], + [ + -3.76572322845459, + 6.832834333181381e-05, + -1.7844345569610596 + ], + [ + -3.4257779121398926, + -0.0015910826623439789, + -1.7844538688659668 + ], + [ + -3.4228098392486572, + 0.6023802757263184, + -1.4345827102661133 + ], + [ + -3.7627553939819336, + 0.6040396690368652, + -1.4345635175704956 + ], + [ + -3.762775421142578, + 0.603978157043457, + -1.7845408916473389 + ], + [ + -3.4228298664093018, + 0.6023187637329102, + -1.7845600843429565 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.0, + "y": 0.9009991884231567, + "z": 1.100000023841858 + }, + "agent_rotation": { + "x": -0.0, + "y": 258.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.0, + "y": 1.5759992599487305, + "z": 1.100000023841858 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|+02.22|00.00|+00.15", + "DiningTable|+01.88|+00.00|-00.29", + "Chair|+01.46|00.00|+00.20" + ], + "different_object": [ + "WateringCan|-03.25|00.00|-01.86", + "Vase|+01.57|+00.78|-00.31", + "Sofa|-03.42|+00.01|-00.04", + "GarbageCan|+00.30|+00.00|+01.25", + "Vase|+01.84|+00.78|-00.30", + "Chair|+01.64|00.00|-00.85", + "Pillow|-01.93|+00.37|-01.49", + "ArmChair|-02.01|+00.01|-01.58", + "Plate|+01.36|+00.78|-00.62", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "SideTable|-03.60|+00.00|-01.61", + "HousePlant|-03.58|+00.60|-01.62", + "Box|+01.27|+00.15|-00.29", + "Window|-02.00|+01.51|-01.93", + "Window|+01.48|+01.51|-01.93" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/13/1_depth_npy.npy b/train/FloorPlan223_physics/13/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a4bb0362ba8eaa7a04f2dc8d15ec3a7b27db1456 --- /dev/null +++ b/train/FloorPlan223_physics/13/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1abc090b7cf5b2e4b7e943b547e49997b63f1d6af8b29c629f14bd912f50a447 +size 3145856 diff --git a/train/FloorPlan223_physics/13/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/13/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e49aebca031d11ef86272990a052bb085abf4b30 --- /dev/null +++ b/train/FloorPlan223_physics/13/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f56615fe5633af8bb5318f8f246db49b70fadd04f438d14bbe3d4a9adce5fbfb +size 2359424 diff --git a/train/FloorPlan223_physics/13/depth_0.png b/train/FloorPlan223_physics/13/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..50d3a8c0e2a3df20d7734533be6f743bb9a414eb Binary files /dev/null and b/train/FloorPlan223_physics/13/depth_0.png differ diff --git a/train/FloorPlan223_physics/13/depth_1.png b/train/FloorPlan223_physics/13/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..4522e13b6faa198658f78cb6520e1c8be72c9529 Binary files /dev/null and b/train/FloorPlan223_physics/13/depth_1.png differ diff --git a/train/FloorPlan223_physics/13/mask_questions.jsonl b/train/FloorPlan223_physics/13/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f4e20b6549ef45271e52229db1277911d3d82b0 --- /dev/null +++ b/train/FloorPlan223_physics/13/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 20308, "folder_dir": "FloorPlan223_physics/13", "pair_name": "0-1:Chair|+01.46|00.00|+00.20", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Chair\nC. FloorLamp\nD. Painting", "answer": "A", "object_name": "Chair", "image_1": "FloorPlan223_physics/13/rgb_0.png", "image_2": "FloorPlan223_physics/13/rgb_1.png", "mask_image": "FloorPlan223_physics/13/rgb_1_mask_Chair|+01.46|00.00|+00.20.png", "options": ["Chair", "Chair", "FloorLamp", "Painting"]} +{"id": 20309, "folder_dir": "FloorPlan223_physics/13", "pair_name": "1-0:Chair|+02.22|00.00|+00.15", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Vase\nC. DiningTable\nD. WateringCan", "answer": "A", "object_name": "Chair", "image_1": "FloorPlan223_physics/13/rgb_1.png", "image_2": "FloorPlan223_physics/13/rgb_0.png", "mask_image": "FloorPlan223_physics/13/rgb_0_mask_Chair|+02.22|00.00|+00.15.png", "options": ["Chair", "Vase", "DiningTable", "WateringCan"]} +{"id": 20310, "folder_dir": "FloorPlan223_physics/13", "pair_name": "1-0:DiningTable|+01.88|+00.00|-00.29", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Box\nB. DiningTable\nC. Chair\nD. Pillow", "answer": "B", "object_name": "DiningTable", "image_1": "FloorPlan223_physics/13/rgb_1.png", "image_2": "FloorPlan223_physics/13/rgb_0.png", "mask_image": "FloorPlan223_physics/13/rgb_0_mask_DiningTable|+01.88|+00.00|-00.29.png", "options": ["Box", "DiningTable", "Chair", "Pillow"]} diff --git a/train/FloorPlan223_physics/13/questions_distance.jsonl b/train/FloorPlan223_physics/13/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4cffa2691054b6b0af9793cdfea373121261a875 --- /dev/null +++ b/train/FloorPlan223_physics/13/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 6002, "folder_dir": "FloorPlan223_physics/13", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. Box\nC. Plate\nD. Other\n", "answer": "B", "src_object": "DiningTable", "target_object": "Box", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "GarbageCan", "semantic_id": "GarbageCan|+00.30|+00.00|+01.25", "distance": 2.2139714883209467, "com": {"x": 0.2996993362903595, "y": 0.32798317074775696, "z": 1.2532281875610352}}, {"text": "Box", "semantic_id": "Box|+01.27|+00.15|-00.29", "distance": 0.6851397287211983, "com": {"x": 1.2528727054595947, "y": 0.13431625068187714, "z": -0.365255743265152}}, {"text": "Plate", "semantic_id": "Plate|+01.36|+00.78|-00.62", "distance": 0.7378836752432911, "com": {"x": 1.36051607131958, "y": 0.7897693514823914, "z": -0.6254259347915649}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/13/rgb_0.png", "image_2": "FloorPlan223_physics/13/rgb_1.png"} diff --git a/train/FloorPlan223_physics/13/rgb_0.png b/train/FloorPlan223_physics/13/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..8d87dd3aaedc25d017e1409e8f8fdfe6a613d60a --- /dev/null +++ b/train/FloorPlan223_physics/13/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:063b69ceffdcc65ac561965fa146c7413a930c44cf6dc98b07705d8789aa92a2 +size 858929 diff --git a/train/FloorPlan223_physics/13/rgb_0_mask_Chair|+02.22|00.00|+00.15.png b/train/FloorPlan223_physics/13/rgb_0_mask_Chair|+02.22|00.00|+00.15.png new file mode 100644 index 0000000000000000000000000000000000000000..24fd9910a96ad708603a15b77a978a66fe8bbdb7 --- /dev/null +++ b/train/FloorPlan223_physics/13/rgb_0_mask_Chair|+02.22|00.00|+00.15.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11ddcf69b67cfe3a1ff09d5db402379a61a0e7148696b06c0e6d60f3e5babf8f +size 744315 diff --git a/train/FloorPlan223_physics/13/rgb_0_mask_DiningTable|+01.88|+00.00|-00.29.png b/train/FloorPlan223_physics/13/rgb_0_mask_DiningTable|+01.88|+00.00|-00.29.png new file mode 100644 index 0000000000000000000000000000000000000000..4e4e03ed57fcd5fbc163417ac8114a4ad6bb7d01 --- /dev/null +++ b/train/FloorPlan223_physics/13/rgb_0_mask_DiningTable|+01.88|+00.00|-00.29.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bcdc77523605f8f75fe6ec90d0fd4a14399a5e3a8f7de2659985f1a4f5d9e3c +size 717554 diff --git a/train/FloorPlan223_physics/13/rgb_1.png b/train/FloorPlan223_physics/13/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..eee9415dbb7cea33991d5b8c41bb0d15b78c6814 --- /dev/null +++ b/train/FloorPlan223_physics/13/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e130143285a481ed05812a76ac195d29b6ebeec1dd3e2a25d33d5b72763bbee5 +size 862787 diff --git a/train/FloorPlan223_physics/13/rgb_1_mask_Chair|+01.46|00.00|+00.20.png b/train/FloorPlan223_physics/13/rgb_1_mask_Chair|+01.46|00.00|+00.20.png new file mode 100644 index 0000000000000000000000000000000000000000..86519bfe61f627223b876561d59059614a97bf93 --- /dev/null +++ b/train/FloorPlan223_physics/13/rgb_1_mask_Chair|+01.46|00.00|+00.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80c7adfd230f9d240778935d1182b52bf6d64908e2feabcadf847524ffe5563e +size 723202 diff --git a/train/FloorPlan223_physics/13/semantic_0.png b/train/FloorPlan223_physics/13/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ef25e1ef7012ce4bdf7019c045a88d2bd80caadc Binary files /dev/null and b/train/FloorPlan223_physics/13/semantic_0.png differ diff --git a/train/FloorPlan223_physics/13/semantic_1.png b/train/FloorPlan223_physics/13/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..00f6187ff2d02dc9fd6185a5fe4161a75c0af401 Binary files /dev/null and b/train/FloorPlan223_physics/13/semantic_1.png differ diff --git a/train/FloorPlan223_physics/14/0.json b/train/FloorPlan223_physics/14/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f30ccfe0052a3e180e6abc1ea7a8018d9d18927a --- /dev/null +++ b/train/FloorPlan223_physics/14/0.json @@ -0,0 +1,2253 @@ +{ + "object": [ + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "object_info": { + "name": "FloorLamp_3964945b", + "position": { + "x": -0.33106115460395813, + "y": 0.0020943880081176758, + "z": 2.728121280670166 + }, + "rotation": { + "x": 0.028233468532562256, + "y": 359.9642333984375, + "z": 0.0124844741076231 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.8773627281188965, + "objectType": "FloorLamp", + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "assetId": "Floor_Lamp_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07376223802566528, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.470034599304199 + ] + ], + "center": { + "x": -0.33205798268318176, + "y": 0.9319358468055725, + "z": 2.7284581661224365 + }, + "size": { + "x": 0.516591489315033, + "y": 1.8638250827789307, + "z": 0.5168471336364746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.07385668158531189, + 4.743225872516632e-05, + 2.9870007038116455 + ], + [ + -0.5905872583389282, + -2.8995331376791e-05, + 2.986692190170288 + ], + [ + -0.5902788639068604, + 0.00010942760854959488, + 2.4699525833129883 + ], + [ + -0.0735483169555664, + 0.00018585508223623037, + 2.4702610969543457 + ], + [ + -0.07413265109062195, + 1.8638358116149902, + 2.987499713897705 + ], + [ + -0.5908632278442383, + 1.8637592792510986, + 2.9871912002563477 + ], + [ + -0.5905548334121704, + 1.8638978004455566, + 2.470451593399048 + ], + [ + -0.07382425665855408, + 1.8639740943908691, + 2.4707601070404053 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "Window|+03.48|+01.51|-01.93", + "object_info": { + "name": "Window_dea94267", + "position": { + "x": 3.4800000190734863, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.463291168212891, + "objectType": "Window", + "objectId": "Window|+03.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.960000514984131, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.960000514984131, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -2.0399999618530273 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -2.0399999618530273 + ] + ], + "center": { + "x": 3.5, + "y": 1.0739160776138306, + "z": -1.9994010925292969 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.147834062576294, + "z": 0.08119773864746094 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "object_info": { + "name": "ArmChair_4b8c6e75", + "position": { + "x": -0.43700525164604187, + "y": 0.005729973316192627, + "z": 1.9230469465255737 + }, + "rotation": { + "x": 4.141504905419424e-05, + "y": 270.00018310546875, + "z": -0.0001669862394919619 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1221652030944824, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04723113775253296, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.04723113775253296, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 1.5481648445129395 + ] + ], + "center": { + "x": -0.43125927448272705, + "y": 0.3626064956188202, + "z": 1.9265482425689697 + }, + "size": { + "x": 0.7680562734603882, + "y": 0.7252018451690674, + "z": 0.7567667961120605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8153156042098999, + 1.087365671992302e-05, + 2.3049323558807373 + ], + [ + -0.8153178691864014, + 1.3908371329307556e-05, + 1.5481648445129395 + ], + [ + -0.04725685715675354, + 1.4075078070163727e-05, + 1.548162579536438 + ], + [ + -0.04725465178489685, + 1.104036346077919e-05, + 2.3049302101135254 + ], + [ + -0.8153157830238342, + 0.7252148985862732, + 2.3049352169036865 + ], + [ + -0.8153179883956909, + 0.7252179384231567, + 1.5481677055358887 + ], + [ + -0.04725700616836548, + 0.7252180576324463, + 1.5481654405593872 + ], + [ + -0.04725480079650879, + 0.7252150177955627, + 2.3049330711364746 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Painting|-00.06|+01.60|+01.73", + "object_info": { + "name": "Painting_9a6f96ff", + "position": { + "x": -0.0560000017285347, + "y": 1.6019999980926514, + "z": 1.7330000400543213 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9214128255844116, + "objectType": "Painting", + "objectId": "Painting|-00.06|+01.60|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.02334464341402054, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 2.0239996910095215, + 1.168489694595337 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 1.168489694595337 + ] + ], + "center": { + "x": -0.02120792120695114, + "y": 1.598686695098877, + "z": 1.7579162120819092 + }, + "size": { + "x": 0.08910512924194336, + "y": 0.8506259918212891, + "z": 1.1788530349731445 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Painting|+04.14|+01.59|-00.30", + "object_info": { + "name": "Painting_984aa9d5", + "position": { + "x": 4.136000156402588, + "y": 1.590999960899353, + "z": -0.296999990940094 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.696467399597168, + "objectType": "Painting", + "objectId": "Painting|+04.14|+01.59|-00.30", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.215344429016113, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.215344429016113, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 1.1690006256103516, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 1.1690006256103516, + -0.8613617420196533 + ] + ], + "center": { + "x": 4.170792102813721, + "y": 1.5914161205291748, + "z": -0.27200978994369507 + }, + "size": { + "x": 0.08910465240478516, + "y": 0.8448309898376465, + "z": 1.1787039041519165 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.2000000476837158, + "y": 0.9009991884231567, + "z": -0.4000000059604645 + }, + "agent_rotation": { + "x": -0.0, + "y": 60.000003814697266, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.2000000476837158, + "y": 1.5759992599487305, + "z": -0.4000000059604645 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "ArmChair|-00.43|+00.01|+01.06", + "Painting|-00.06|+01.60|+01.73", + "ArmChair|-00.44|+00.01|+01.92", + "FloorLamp|-00.33|+00.00|+02.73" + ], + "different_object": [ + "Chair|+02.22|00.00|+00.15", + "Vase|+01.57|+00.78|-00.31", + "Vase|+01.84|+00.78|-00.30", + "Chair|+01.64|00.00|-00.85", + "Plate|+01.36|+00.78|-00.62", + "Window|+03.48|+01.51|-01.93", + "Chair|+01.46|00.00|+00.20", + "DiningTable|+01.88|+00.00|-00.29", + "Box|+01.27|+00.15|-00.29", + "Painting|+04.14|+01.59|-00.30", + "Chair|+02.29|00.00|-00.78" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/14/0_depth_npy.npy b/train/FloorPlan223_physics/14/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3a1ed94ec3e045ba3c27cb0d4677454452034dc0 --- /dev/null +++ b/train/FloorPlan223_physics/14/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0eb7c0f1bfc9fda9c2285a44b9abacb79fcb28783edfe04002ba4cc2a59a265 +size 3145856 diff --git a/train/FloorPlan223_physics/14/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/14/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c32d3e4e54805c753e33ff99785f509e92b48d44 --- /dev/null +++ b/train/FloorPlan223_physics/14/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d167ae9713d20c429e7a98da44a6196972e8dba8600466b6197d9101a57d3019 +size 2359424 diff --git a/train/FloorPlan223_physics/14/1.json b/train/FloorPlan223_physics/14/1.json new file mode 100644 index 0000000000000000000000000000000000000000..e3ad60d8d4a089bd40ee6f72357d56b1b2a7323c --- /dev/null +++ b/train/FloorPlan223_physics/14/1.json @@ -0,0 +1,1511 @@ +{ + "object": [ + { + "objectId": "Statue|-02.04|+00.24|+02.75", + "object_info": { + "name": "Statue_2147f514", + "position": { + "x": -2.0441362857818604, + "y": 0.2397981435060501, + "z": 2.7487399578094482 + }, + "rotation": { + "x": 0.5867406129837036, + "y": 359.98504638671875, + "z": 0.9680944681167603 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Stone" + ], + "receptacleObjectIds": null, + "distance": 3.221353054046631, + "objectType": "Statue", + "objectId": "Statue|-02.04|+00.24|+02.75", + "assetId": "Dog_Statue_4", + "parentReceptacles": [ + "DiningTable|-01.86|+00.23|+02.79", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.9340085983276367, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.7116007804870605 + ] + ], + "center": { + "x": -2.067904472351074, + "y": 0.33797669410705566, + "z": 2.777303695678711 + }, + "size": { + "x": 0.267791748046875, + "y": 0.20818185806274414, + "z": 0.13140583038330078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.932020902633667, + 0.23496071994304657, + 2.8412842750549316 + ], + [ + -2.2012362480163574, + 0.23041173815727234, + 2.841167449951172 + ], + [ + -2.201202392578125, + 0.2317402958869934, + 2.711437225341797 + ], + [ + -1.9319870471954346, + 0.23628926277160645, + 2.7115540504455566 + ], + [ + -1.9355692863464355, + 0.44490715861320496, + 2.843433380126953 + ], + [ + -2.204784631729126, + 0.44035816192626953, + 2.8433165550231934 + ], + [ + -2.2047507762908936, + 0.4416867196559906, + 2.7135863304138184 + ], + [ + -1.9355354309082031, + 0.446235716342926, + 2.713703155517578 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "object_info": { + "name": "FloorLamp_3964945b", + "position": { + "x": -0.33106115460395813, + "y": 0.0020943880081176758, + "z": 2.728121280670166 + }, + "rotation": { + "x": 0.028233468532562256, + "y": 359.9642333984375, + "z": 0.0124844741076231 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.8773627281188965, + "objectType": "FloorLamp", + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "assetId": "Floor_Lamp_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07376223802566528, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.470034599304199 + ] + ], + "center": { + "x": -0.33205798268318176, + "y": 0.9319358468055725, + "z": 2.7284581661224365 + }, + "size": { + "x": 0.516591489315033, + "y": 1.8638250827789307, + "z": 0.5168471336364746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.07385668158531189, + 4.743225872516632e-05, + 2.9870007038116455 + ], + [ + -0.5905872583389282, + -2.8995331376791e-05, + 2.986692190170288 + ], + [ + -0.5902788639068604, + 0.00010942760854959488, + 2.4699525833129883 + ], + [ + -0.0735483169555664, + 0.00018585508223623037, + 2.4702610969543457 + ], + [ + -0.07413265109062195, + 1.8638358116149902, + 2.987499713897705 + ], + [ + -0.5908632278442383, + 1.8637592792510986, + 2.9871912002563477 + ], + [ + -0.5905548334121704, + 1.8638978004455566, + 2.470451593399048 + ], + [ + -0.07382425665855408, + 1.8639740943908691, + 2.4707601070404053 + ] + ] + } + } + }, + { + "objectId": "Candle|-01.54|+00.23|+02.74", + "object_info": { + "name": "Candle_f40c2f5f", + "position": { + "x": -1.536789894104004, + "y": 0.2342444658279419, + "z": 2.7418534755706787 + }, + "rotation": { + "x": 0.09415348619222641, + "y": 359.6438903808594, + "z": 0.19696395099163055 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Wax" + ], + "receptacleObjectIds": null, + "distance": 3.0062029361724854, + "objectType": "Candle", + "objectId": "Candle|-01.54|+00.23|+02.74", + "assetId": "Candle_6", + "parentReceptacles": [ + "DiningTable|-01.86|+00.23|+02.79", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5155794620513916, + 0.40167558193206787, + 2.7630717754364014 + ], + [ + -1.5155794620513916, + 0.40167558193206787, + 2.7206437587738037 + ], + [ + -1.5155794620513916, + 0.23379802703857422, + 2.7630717754364014 + ], + [ + -1.5155794620513916, + 0.23379802703857422, + 2.7206437587738037 + ], + [ + -1.5580174922943115, + 0.40167558193206787, + 2.7630717754364014 + ], + [ + -1.5580174922943115, + 0.40167558193206787, + 2.7206437587738037 + ], + [ + -1.5580174922943115, + 0.23379802703857422, + 2.7630717754364014 + ], + [ + -1.5580174922943115, + 0.23379802703857422, + 2.7206437587738037 + ] + ], + "center": { + "x": -1.5367984771728516, + "y": 0.31773680448532104, + "z": 2.7418577671051025 + }, + "size": { + "x": 0.04243803024291992, + "y": 0.16787755489349365, + "z": 0.042428016662597656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.515762448310852, + 0.2339225858449936, + 2.7631423473358154 + ], + [ + -1.5580779314041138, + 0.23377712070941925, + 2.7628791332244873 + ], + [ + -1.5578149557113647, + 0.23384664952754974, + 2.7205634117126465 + ], + [ + -1.5154993534088135, + 0.23399212956428528, + 2.7208266258239746 + ], + [ + -1.516340970993042, + 0.401713490486145, + 2.7634143829345703 + ], + [ + -1.5586564540863037, + 0.4015679955482483, + 2.763151168823242 + ], + [ + -1.5583934783935547, + 0.40163755416870117, + 2.7208356857299805 + ], + [ + -1.5160778760910034, + 0.4017830193042755, + 2.7210988998413086 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "object_info": { + "name": "DiningTable_42373f1f", + "position": { + "x": -1.8579727411270142, + "y": 0.2316993921995163, + "z": 2.7878525257110596 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75" + ], + "distance": 3.172408103942871, + "objectType": "DiningTable", + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.353766918182373, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.6145288944244385 + ] + ], + "center": { + "x": -1.8579730987548828, + "y": 0.27928826212882996, + "z": 2.787849187850952 + }, + "size": { + "x": 1.0084123611450195, + "y": 0.09547990560531616, + "z": 0.34664058685302734 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "object_info": { + "name": "RemoteControl_09703e97", + "position": { + "x": -2.2912778854370117, + "y": 0.7151373624801636, + "z": 2.7494349479675293 + }, + "rotation": { + "x": 359.9211120605469, + "y": 0.35118886828422546, + "z": 359.98101806640625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.2867329120635986, + "objectType": "RemoteControl", + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "assetId": "Remote_3", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.256807565689087, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.6374101638793945 + ] + ], + "center": { + "x": -2.290771484375, + "y": 0.7245430946350098, + "z": 2.7473092079162598 + }, + "size": { + "x": 0.06792783737182617, + "y": 0.02184438705444336, + "z": 0.21979808807373047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.256814479827881, + 0.7139212489128113, + 2.8567938804626465 + ], + [ + -2.3244235515594482, + 0.713943600654602, + 2.857208251953125 + ], + [ + -2.325768232345581, + 0.7136415839195251, + 2.6378211975097656 + ], + [ + -2.2581591606140137, + 0.7136191725730896, + 2.637406826019287 + ], + [ + -2.256807565689087, + 0.7354427576065063, + 2.856764078140259 + ], + [ + -2.3244166374206543, + 0.7354651689529419, + 2.8571784496307373 + ], + [ + -2.325761318206787, + 0.735163152217865, + 2.637791633605957 + ], + [ + -2.2581522464752197, + 0.7351407408714294, + 2.6373772621154785 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "object_info": { + "name": "ArmChair_4b8c6e75", + "position": { + "x": -0.43700525164604187, + "y": 0.005729973316192627, + "z": 1.9230469465255737 + }, + "rotation": { + "x": 4.141504905419424e-05, + "y": 270.00018310546875, + "z": -0.0001669862394919619 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1221652030944824, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04723113775253296, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.04723113775253296, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 1.5481648445129395 + ] + ], + "center": { + "x": -0.43125927448272705, + "y": 0.3626064956188202, + "z": 1.9265482425689697 + }, + "size": { + "x": 0.7680562734603882, + "y": 0.7252018451690674, + "z": 0.7567667961120605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8153156042098999, + 1.087365671992302e-05, + 2.3049323558807373 + ], + [ + -0.8153178691864014, + 1.3908371329307556e-05, + 1.5481648445129395 + ], + [ + -0.04725685715675354, + 1.4075078070163727e-05, + 1.548162579536438 + ], + [ + -0.04725465178489685, + 1.104036346077919e-05, + 2.3049302101135254 + ], + [ + -0.8153157830238342, + 0.7252148985862732, + 2.3049352169036865 + ], + [ + -0.8153179883956909, + 0.7252179384231567, + 1.5481677055358887 + ], + [ + -0.04725700616836548, + 0.7252180576324463, + 1.5481654405593872 + ], + [ + -0.04725480079650879, + 0.7252150177955627, + 2.3049330711364746 + ] + ] + } + } + }, + { + "objectId": "TVStand|-01.86|+00.00|+02.79", + "object_info": { + "name": "TVStand_3ce96f2f", + "position": { + "x": -1.8579983711242676, + "y": 0.00039079785346984863, + "z": 2.787977933883667 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Television|-01.86|+01.20|+02.70", + "RemoteControl|-02.29|+00.71|+02.75" + ], + "distance": 3.2292532920837402, + "objectType": "TVStand", + "objectId": "TVStand|-01.86|+00.00|+02.79", + "assetId": "TV_Stand_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3527679443359375, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -1.3527679443359375, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.6121463775634766 + ] + ], + "center": { + "x": -1.8609373569488525, + "y": 0.35679537057876587, + "z": 2.7879385948181152 + }, + "size": { + "x": 1.01633882522583, + "y": 0.7136019468307495, + "z": 0.35158443450927734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.3528119325637817, + 2.9323389753699303e-05, + 2.963749408721924 + ], + [ + -2.3691158294677734, + 7.576588541269302e-05, + 2.9637136459350586 + ], + [ + -2.36910343170166, + 3.9373175241053104e-05, + 2.61221981048584 + ], + [ + -1.352799654006958, + -7.069320417940617e-06, + 2.612255334854126 + ], + [ + -1.3527793884277344, + 0.7135501503944397, + 2.9636754989624023 + ], + [ + -2.3690831661224365, + 0.7135965824127197, + 2.963639736175537 + ], + [ + -2.3690710067749023, + 0.7135602235794067, + 2.6121459007263184 + ], + [ + -1.352766990661621, + 0.7135137915611267, + 2.6121814250946045 + ] + ] + } + } + }, + { + "objectId": "Painting|-00.06|+01.60|+01.73", + "object_info": { + "name": "Painting_9a6f96ff", + "position": { + "x": -0.0560000017285347, + "y": 1.6019999980926514, + "z": 1.7330000400543213 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9214128255844116, + "objectType": "Painting", + "objectId": "Painting|-00.06|+01.60|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.02334464341402054, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 2.0239996910095215, + 1.168489694595337 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 1.168489694595337 + ] + ], + "center": { + "x": -0.02120792120695114, + "y": 1.598686695098877, + "z": 1.7579162120819092 + }, + "size": { + "x": 0.08910512924194336, + "y": 0.8506259918212891, + "z": 1.1788530349731445 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|-01.86|+01.20|+02.70", + "object_info": { + "name": "Television_430e1f04", + "position": { + "x": -1.8597434759140015, + "y": 1.200732946395874, + "z": 2.7014834880828857 + }, + "rotation": { + "x": 359.06036376953125, + "y": 179.99822998046875, + "z": -0.0007116764318197966 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.03920316696167, + "objectType": "Television", + "objectId": "Television|-01.86|+01.20|+02.70", + "assetId": "Television_23", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.359736442565918, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.594604730606079 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.594604730606079 + ] + ], + "center": { + "x": -1.8597421646118164, + "y": 1.1164844036102295, + "z": 2.7694149017333984 + }, + "size": { + "x": 1.0000114440917969, + "y": 0.8063507080078125, + "z": 0.34962034225463867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.359734058380127, + 0.7141113877296448, + 2.589648723602295 + ], + [ + -1.3597339391708374, + 0.7141237854957581, + 2.5896799564361572 + ], + [ + -1.359744906425476, + 0.7083142399787903, + 2.9438905715942383 + ], + [ + -2.3597450256347656, + 0.708301842212677, + 2.943859577178955 + ], + [ + -2.3597443103790283, + 1.5198802947998047, + 2.6028645038604736 + ], + [ + -1.3597443103790283, + 1.519892692565918, + 2.602895736694336 + ], + [ + -1.359755277633667, + 1.5140831470489502, + 2.957106351852417 + ], + [ + -2.359755277633667, + 1.514070749282837, + 2.9570751190185547 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -1.4000000953674316, + "y": 0.9009991884231567, + "z": 0.800000011920929 + }, + "agent_rotation": { + "x": -0.0, + "y": 12.999999046325684, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.4000000953674316, + "y": 1.5759992599487305, + "z": 0.800000011920929 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "ArmChair|-00.43|+00.01|+01.06", + "Painting|-00.06|+01.60|+01.73", + "ArmChair|-00.44|+00.01|+01.92", + "FloorLamp|-00.33|+00.00|+02.73" + ], + "different_object": [ + "RemoteControl|-02.29|+00.71|+02.75", + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75", + "Television|-01.86|+01.20|+02.70", + "DiningTable|-01.86|+00.23|+02.79", + "TVStand|-01.86|+00.00|+02.79" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/14/1_depth_npy.npy b/train/FloorPlan223_physics/14/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..91ab15ddbf76fee60d84476aaa65699b6d48505b --- /dev/null +++ b/train/FloorPlan223_physics/14/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7329e2388e12944525f154eae4ac3390a47034ddcc82687c201cc878b755ea4 +size 3145856 diff --git a/train/FloorPlan223_physics/14/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/14/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..457d669edd11d0968a8c9b99927a7f482f510a23 --- /dev/null +++ b/train/FloorPlan223_physics/14/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c676b1d43a72f29d2d381cfdb785536aa4986f37dfa6de0863015f5cfb33864 +size 2359424 diff --git a/train/FloorPlan223_physics/14/depth_0.png b/train/FloorPlan223_physics/14/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3be85731c0d89b86949e0872abab1c66b60cbae9 Binary files /dev/null and b/train/FloorPlan223_physics/14/depth_0.png differ diff --git a/train/FloorPlan223_physics/14/depth_1.png b/train/FloorPlan223_physics/14/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..4d3ebc2477a200be3c894b8b37f72cf97e72c417 Binary files /dev/null and b/train/FloorPlan223_physics/14/depth_1.png differ diff --git a/train/FloorPlan223_physics/14/mask_questions.jsonl b/train/FloorPlan223_physics/14/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dcbf9f44df471bfd66105336f5a41c36fd1b7921 --- /dev/null +++ b/train/FloorPlan223_physics/14/mask_questions.jsonl @@ -0,0 +1,6 @@ +{"id": 20319, "folder_dir": "FloorPlan223_physics/14", "pair_name": "0-1:Painting|-00.06|+01.60|+01.73", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Painting\nC. Chair\nD. ArmChair", "answer": "B", "object_name": "Painting", "image_1": "FloorPlan223_physics/14/rgb_0.png", "image_2": "FloorPlan223_physics/14/rgb_1.png", "mask_image": "FloorPlan223_physics/14/rgb_1_mask_Painting|-00.06|+01.60|+01.73.png", "options": ["Chair", "Painting", "Chair", "ArmChair"]} +{"id": 20320, "folder_dir": "FloorPlan223_physics/14", "pair_name": "0-1:ArmChair|-00.44|+00.01|+01.92", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ArmChair\nB. Window\nC. ArmChair\nD. DiningTable", "answer": "A", "object_name": "ArmChair", "image_1": "FloorPlan223_physics/14/rgb_0.png", "image_2": "FloorPlan223_physics/14/rgb_1.png", "mask_image": "FloorPlan223_physics/14/rgb_1_mask_ArmChair|-00.44|+00.01|+01.92.png", "options": ["ArmChair", "Window", "ArmChair", "DiningTable"]} +{"id": 20321, "folder_dir": "FloorPlan223_physics/14", "pair_name": "0-1:FloorLamp|-00.33|+00.00|+02.73", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. FloorLamp\nB. Plate\nC. DiningTable\nD. ArmChair", "answer": "A", "object_name": "FloorLamp", "image_1": "FloorPlan223_physics/14/rgb_0.png", "image_2": "FloorPlan223_physics/14/rgb_1.png", "mask_image": "FloorPlan223_physics/14/rgb_1_mask_FloorLamp|-00.33|+00.00|+02.73.png", "options": ["FloorLamp", "Plate", "DiningTable", "ArmChair"]} +{"id": 20322, "folder_dir": "FloorPlan223_physics/14", "pair_name": "1-0:Painting|-00.06|+01.60|+01.73", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Candle\nB. RemoteControl\nC. ArmChair\nD. Painting", "answer": "D", "object_name": "Painting", "image_1": "FloorPlan223_physics/14/rgb_1.png", "image_2": "FloorPlan223_physics/14/rgb_0.png", "mask_image": "FloorPlan223_physics/14/rgb_0_mask_Painting|-00.06|+01.60|+01.73.png", "options": ["Candle", "RemoteControl", "ArmChair", "Painting"]} +{"id": 20323, "folder_dir": "FloorPlan223_physics/14", "pair_name": "1-0:ArmChair|-00.44|+00.01|+01.92", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ArmChair\nB. DiningTable\nC. RemoteControl\nD. ArmChair", "answer": "A", "object_name": "ArmChair", "image_1": "FloorPlan223_physics/14/rgb_1.png", "image_2": "FloorPlan223_physics/14/rgb_0.png", "mask_image": "FloorPlan223_physics/14/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png", "options": ["ArmChair", "DiningTable", "RemoteControl", "ArmChair"]} +{"id": 20324, "folder_dir": "FloorPlan223_physics/14", "pair_name": "1-0:FloorLamp|-00.33|+00.00|+02.73", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. FloorLamp\nB. ArmChair\nC. Candle\nD. Television", "answer": "A", "object_name": "FloorLamp", "image_1": "FloorPlan223_physics/14/rgb_1.png", "image_2": "FloorPlan223_physics/14/rgb_0.png", "mask_image": "FloorPlan223_physics/14/rgb_0_mask_FloorLamp|-00.33|+00.00|+02.73.png", "options": ["FloorLamp", "ArmChair", "Candle", "Television"]} diff --git a/train/FloorPlan223_physics/14/questions_distance.jsonl b/train/FloorPlan223_physics/14/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2cae3802ec63125bb753d123877caa8e93fa1d79 --- /dev/null +++ b/train/FloorPlan223_physics/14/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 6007, "folder_dir": "FloorPlan223_physics/14", "query": "Which of the following objects is closest to FloorLamp in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. TVStand\nB. Television\nC. Candle\nD. Other\n", "answer": "C", "src_object": "FloorLamp", "target_object": "Candle", "question": "Which of the following objects is closest to FloorLamp in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "TVStand", "semantic_id": "TVStand|-01.86|+00.00|+02.79", "distance": 1.6345631311904747, "com": {"x": -1.8609373569488525, "y": 0.35679537057876587, "z": 2.7879385948181152}}, {"text": "Television", "semantic_id": "Television|-01.86|+01.20|+02.70", "distance": 1.5393357605556852, "com": {"x": -1.8597421646118164, "y": 1.1164844036102295, "z": 2.7694149017333984}}, {"text": "Candle", "semantic_id": "Candle|-01.54|+00.23|+02.74", "distance": 1.3523385936801562, "com": {"x": -1.5367984771728516, "y": 0.31773680448532104, "z": 2.7418577671051025}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/14/rgb_0.png", "image_2": "FloorPlan223_physics/14/rgb_1.png"} diff --git a/train/FloorPlan223_physics/14/rgb_0.png b/train/FloorPlan223_physics/14/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6ff29729f8aac988c47891315a10c0e1a6322104 --- /dev/null +++ b/train/FloorPlan223_physics/14/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd4402d230b4bc11bb97465b9100a4ed01718688692f864f7cfdbde6c51e8df8 +size 863554 diff --git a/train/FloorPlan223_physics/14/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png b/train/FloorPlan223_physics/14/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png new file mode 100644 index 0000000000000000000000000000000000000000..59f703cad565c30215c281b4399ff56febb2d46d --- /dev/null +++ b/train/FloorPlan223_physics/14/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0596ccac260de04dbbc0f7b14234e7d35dcf2a25ca4fae6c61e2400144630ecb +size 688144 diff --git a/train/FloorPlan223_physics/14/rgb_0_mask_FloorLamp|-00.33|+00.00|+02.73.png b/train/FloorPlan223_physics/14/rgb_0_mask_FloorLamp|-00.33|+00.00|+02.73.png new file mode 100644 index 0000000000000000000000000000000000000000..ac4c50ad9a956300923e8c0414d629d193cc7e6a --- /dev/null +++ b/train/FloorPlan223_physics/14/rgb_0_mask_FloorLamp|-00.33|+00.00|+02.73.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b8854123ee44480dad57e1a79826f4c26f267aa2538d3053590f4adc5e4bb3d +size 723416 diff --git a/train/FloorPlan223_physics/14/rgb_0_mask_Painting|-00.06|+01.60|+01.73.png b/train/FloorPlan223_physics/14/rgb_0_mask_Painting|-00.06|+01.60|+01.73.png new file mode 100644 index 0000000000000000000000000000000000000000..dfea362734c4e29c609d0c42a4c09dea45339358 --- /dev/null +++ b/train/FloorPlan223_physics/14/rgb_0_mask_Painting|-00.06|+01.60|+01.73.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b26643435bb0295a8dfd20e413497ed79a6aa81cf28ee195cf5ac7a2f2455af1 +size 740640 diff --git a/train/FloorPlan223_physics/14/rgb_1.png b/train/FloorPlan223_physics/14/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..01792ac6438d8c0c9db7067dd13f3a4f08eb6aea --- /dev/null +++ b/train/FloorPlan223_physics/14/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22c0cf996f382266df0d5a582f74d7d2e0b7f219f8b87a22976e527d87412106 +size 696456 diff --git a/train/FloorPlan223_physics/14/rgb_1_mask_ArmChair|-00.44|+00.01|+01.92.png b/train/FloorPlan223_physics/14/rgb_1_mask_ArmChair|-00.44|+00.01|+01.92.png new file mode 100644 index 0000000000000000000000000000000000000000..1f6a0c96fcf8ba63809dd92770745bc0702ee358 --- /dev/null +++ b/train/FloorPlan223_physics/14/rgb_1_mask_ArmChair|-00.44|+00.01|+01.92.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5dfbb7bdd456be0a9d3602c58eb3e79f4c6168d6b3bdb72371006983791a4831 +size 533662 diff --git a/train/FloorPlan223_physics/14/rgb_1_mask_FloorLamp|-00.33|+00.00|+02.73.png b/train/FloorPlan223_physics/14/rgb_1_mask_FloorLamp|-00.33|+00.00|+02.73.png new file mode 100644 index 0000000000000000000000000000000000000000..5f00058fc789aa12dc0a447c00ce5304e471cfdf --- /dev/null +++ b/train/FloorPlan223_physics/14/rgb_1_mask_FloorLamp|-00.33|+00.00|+02.73.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f423be64af27ea7cdc894711b8d1354337453d62adc4478a4bd96a34c13f5d2e +size 581018 diff --git a/train/FloorPlan223_physics/14/rgb_1_mask_Painting|-00.06|+01.60|+01.73.png b/train/FloorPlan223_physics/14/rgb_1_mask_Painting|-00.06|+01.60|+01.73.png new file mode 100644 index 0000000000000000000000000000000000000000..2af99201849e07fdbd7fce3d86f748f0888650d0 --- /dev/null +++ b/train/FloorPlan223_physics/14/rgb_1_mask_Painting|-00.06|+01.60|+01.73.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df18f8d652f80871be8eb20afa34fa235449aa25ab38ef50733f99e711489086 +size 518762 diff --git a/train/FloorPlan223_physics/14/semantic_0.png b/train/FloorPlan223_physics/14/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..cf768b40274eba94a4028e3af5e2b179140ec157 Binary files /dev/null and b/train/FloorPlan223_physics/14/semantic_0.png differ diff --git a/train/FloorPlan223_physics/14/semantic_1.png b/train/FloorPlan223_physics/14/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..adbafbddec9c31181f42e55a3227465db408998c Binary files /dev/null and b/train/FloorPlan223_physics/14/semantic_1.png differ diff --git a/train/FloorPlan223_physics/15/0.json b/train/FloorPlan223_physics/15/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f2e4ff52a3d9e56d2b92aa515bda555eeab1b05a --- /dev/null +++ b/train/FloorPlan223_physics/15/0.json @@ -0,0 +1,3362 @@ +{ + "object": [ + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "Statue|-02.04|+00.24|+02.75", + "object_info": { + "name": "Statue_2147f514", + "position": { + "x": -2.0441362857818604, + "y": 0.2397981435060501, + "z": 2.7487399578094482 + }, + "rotation": { + "x": 0.5867406129837036, + "y": 359.98504638671875, + "z": 0.9680944681167603 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Stone" + ], + "receptacleObjectIds": null, + "distance": 3.221353054046631, + "objectType": "Statue", + "objectId": "Statue|-02.04|+00.24|+02.75", + "assetId": "Dog_Statue_4", + "parentReceptacles": [ + "DiningTable|-01.86|+00.23|+02.79", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.9340085983276367, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.7116007804870605 + ] + ], + "center": { + "x": -2.067904472351074, + "y": 0.33797669410705566, + "z": 2.777303695678711 + }, + "size": { + "x": 0.267791748046875, + "y": 0.20818185806274414, + "z": 0.13140583038330078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.932020902633667, + 0.23496071994304657, + 2.8412842750549316 + ], + [ + -2.2012362480163574, + 0.23041173815727234, + 2.841167449951172 + ], + [ + -2.201202392578125, + 0.2317402958869934, + 2.711437225341797 + ], + [ + -1.9319870471954346, + 0.23628926277160645, + 2.7115540504455566 + ], + [ + -1.9355692863464355, + 0.44490715861320496, + 2.843433380126953 + ], + [ + -2.204784631729126, + 0.44035816192626953, + 2.8433165550231934 + ], + [ + -2.2047507762908936, + 0.4416867196559906, + 2.7135863304138184 + ], + [ + -1.9355354309082031, + 0.446235716342926, + 2.713703155517578 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "object_info": { + "name": "FloorLamp_3964945b", + "position": { + "x": -0.33106115460395813, + "y": 0.0020943880081176758, + "z": 2.728121280670166 + }, + "rotation": { + "x": 0.028233468532562256, + "y": 359.9642333984375, + "z": 0.0124844741076231 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.8773627281188965, + "objectType": "FloorLamp", + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "assetId": "Floor_Lamp_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07376223802566528, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.470034599304199 + ] + ], + "center": { + "x": -0.33205798268318176, + "y": 0.9319358468055725, + "z": 2.7284581661224365 + }, + "size": { + "x": 0.516591489315033, + "y": 1.8638250827789307, + "z": 0.5168471336364746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.07385668158531189, + 4.743225872516632e-05, + 2.9870007038116455 + ], + [ + -0.5905872583389282, + -2.8995331376791e-05, + 2.986692190170288 + ], + [ + -0.5902788639068604, + 0.00010942760854959488, + 2.4699525833129883 + ], + [ + -0.0735483169555664, + 0.00018585508223623037, + 2.4702610969543457 + ], + [ + -0.07413265109062195, + 1.8638358116149902, + 2.987499713897705 + ], + [ + -0.5908632278442383, + 1.8637592792510986, + 2.9871912002563477 + ], + [ + -0.5905548334121704, + 1.8638978004455566, + 2.470451593399048 + ], + [ + -0.07382425665855408, + 1.8639740943908691, + 2.4707601070404053 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "Candle|-01.54|+00.23|+02.74", + "object_info": { + "name": "Candle_f40c2f5f", + "position": { + "x": -1.536789894104004, + "y": 0.2342444658279419, + "z": 2.7418534755706787 + }, + "rotation": { + "x": 0.09415348619222641, + "y": 359.6438903808594, + "z": 0.19696395099163055 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Wax" + ], + "receptacleObjectIds": null, + "distance": 3.0062029361724854, + "objectType": "Candle", + "objectId": "Candle|-01.54|+00.23|+02.74", + "assetId": "Candle_6", + "parentReceptacles": [ + "DiningTable|-01.86|+00.23|+02.79", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5155794620513916, + 0.40167558193206787, + 2.7630717754364014 + ], + [ + -1.5155794620513916, + 0.40167558193206787, + 2.7206437587738037 + ], + [ + -1.5155794620513916, + 0.23379802703857422, + 2.7630717754364014 + ], + [ + -1.5155794620513916, + 0.23379802703857422, + 2.7206437587738037 + ], + [ + -1.5580174922943115, + 0.40167558193206787, + 2.7630717754364014 + ], + [ + -1.5580174922943115, + 0.40167558193206787, + 2.7206437587738037 + ], + [ + -1.5580174922943115, + 0.23379802703857422, + 2.7630717754364014 + ], + [ + -1.5580174922943115, + 0.23379802703857422, + 2.7206437587738037 + ] + ], + "center": { + "x": -1.5367984771728516, + "y": 0.31773680448532104, + "z": 2.7418577671051025 + }, + "size": { + "x": 0.04243803024291992, + "y": 0.16787755489349365, + "z": 0.042428016662597656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.515762448310852, + 0.2339225858449936, + 2.7631423473358154 + ], + [ + -1.5580779314041138, + 0.23377712070941925, + 2.7628791332244873 + ], + [ + -1.5578149557113647, + 0.23384664952754974, + 2.7205634117126465 + ], + [ + -1.5154993534088135, + 0.23399212956428528, + 2.7208266258239746 + ], + [ + -1.516340970993042, + 0.401713490486145, + 2.7634143829345703 + ], + [ + -1.5586564540863037, + 0.4015679955482483, + 2.763151168823242 + ], + [ + -1.5583934783935547, + 0.40163755416870117, + 2.7208356857299805 + ], + [ + -1.5160778760910034, + 0.4017830193042755, + 2.7210988998413086 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "object_info": { + "name": "DiningTable_42373f1f", + "position": { + "x": -1.8579727411270142, + "y": 0.2316993921995163, + "z": 2.7878525257110596 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75" + ], + "distance": 3.172408103942871, + "objectType": "DiningTable", + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.353766918182373, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.6145288944244385 + ] + ], + "center": { + "x": -1.8579730987548828, + "y": 0.27928826212882996, + "z": 2.787849187850952 + }, + "size": { + "x": 1.0084123611450195, + "y": 0.09547990560531616, + "z": 0.34664058685302734 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "object_info": { + "name": "RemoteControl_09703e97", + "position": { + "x": -2.2912778854370117, + "y": 0.7151373624801636, + "z": 2.7494349479675293 + }, + "rotation": { + "x": 359.9211120605469, + "y": 0.35118886828422546, + "z": 359.98101806640625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.2867329120635986, + "objectType": "RemoteControl", + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "assetId": "Remote_3", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.256807565689087, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.6374101638793945 + ] + ], + "center": { + "x": -2.290771484375, + "y": 0.7245430946350098, + "z": 2.7473092079162598 + }, + "size": { + "x": 0.06792783737182617, + "y": 0.02184438705444336, + "z": 0.21979808807373047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.256814479827881, + 0.7139212489128113, + 2.8567938804626465 + ], + [ + -2.3244235515594482, + 0.713943600654602, + 2.857208251953125 + ], + [ + -2.325768232345581, + 0.7136415839195251, + 2.6378211975097656 + ], + [ + -2.2581591606140137, + 0.7136191725730896, + 2.637406826019287 + ], + [ + -2.256807565689087, + 0.7354427576065063, + 2.856764078140259 + ], + [ + -2.3244166374206543, + 0.7354651689529419, + 2.8571784496307373 + ], + [ + -2.325761318206787, + 0.735163152217865, + 2.637791633605957 + ], + [ + -2.2581522464752197, + 0.7351407408714294, + 2.6373772621154785 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "object_info": { + "name": "ArmChair_4b8c6e75", + "position": { + "x": -0.43700525164604187, + "y": 0.005729973316192627, + "z": 1.9230469465255737 + }, + "rotation": { + "x": 4.141504905419424e-05, + "y": 270.00018310546875, + "z": -0.0001669862394919619 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1221652030944824, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04723113775253296, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.04723113775253296, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 1.5481648445129395 + ] + ], + "center": { + "x": -0.43125927448272705, + "y": 0.3626064956188202, + "z": 1.9265482425689697 + }, + "size": { + "x": 0.7680562734603882, + "y": 0.7252018451690674, + "z": 0.7567667961120605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8153156042098999, + 1.087365671992302e-05, + 2.3049323558807373 + ], + [ + -0.8153178691864014, + 1.3908371329307556e-05, + 1.5481648445129395 + ], + [ + -0.04725685715675354, + 1.4075078070163727e-05, + 1.548162579536438 + ], + [ + -0.04725465178489685, + 1.104036346077919e-05, + 2.3049302101135254 + ], + [ + -0.8153157830238342, + 0.7252148985862732, + 2.3049352169036865 + ], + [ + -0.8153179883956909, + 0.7252179384231567, + 1.5481677055358887 + ], + [ + -0.04725700616836548, + 0.7252180576324463, + 1.5481654405593872 + ], + [ + -0.04725480079650879, + 0.7252150177955627, + 2.3049330711364746 + ] + ] + } + } + }, + { + "objectId": "TVStand|-01.86|+00.00|+02.79", + "object_info": { + "name": "TVStand_3ce96f2f", + "position": { + "x": -1.8579983711242676, + "y": 0.00039079785346984863, + "z": 2.787977933883667 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Television|-01.86|+01.20|+02.70", + "RemoteControl|-02.29|+00.71|+02.75" + ], + "distance": 3.2292532920837402, + "objectType": "TVStand", + "objectId": "TVStand|-01.86|+00.00|+02.79", + "assetId": "TV_Stand_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3527679443359375, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -1.3527679443359375, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.6121463775634766 + ] + ], + "center": { + "x": -1.8609373569488525, + "y": 0.35679537057876587, + "z": 2.7879385948181152 + }, + "size": { + "x": 1.01633882522583, + "y": 0.7136019468307495, + "z": 0.35158443450927734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.3528119325637817, + 2.9323389753699303e-05, + 2.963749408721924 + ], + [ + -2.3691158294677734, + 7.576588541269302e-05, + 2.9637136459350586 + ], + [ + -2.36910343170166, + 3.9373175241053104e-05, + 2.61221981048584 + ], + [ + -1.352799654006958, + -7.069320417940617e-06, + 2.612255334854126 + ], + [ + -1.3527793884277344, + 0.7135501503944397, + 2.9636754989624023 + ], + [ + -2.3690831661224365, + 0.7135965824127197, + 2.963639736175537 + ], + [ + -2.3690710067749023, + 0.7135602235794067, + 2.6121459007263184 + ], + [ + -1.352766990661621, + 0.7135137915611267, + 2.6121814250946045 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "Painting|-00.06|+01.60|+01.73", + "object_info": { + "name": "Painting_9a6f96ff", + "position": { + "x": -0.0560000017285347, + "y": 1.6019999980926514, + "z": 1.7330000400543213 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9214128255844116, + "objectType": "Painting", + "objectId": "Painting|-00.06|+01.60|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.02334464341402054, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 2.0239996910095215, + 1.168489694595337 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 1.168489694595337 + ] + ], + "center": { + "x": -0.02120792120695114, + "y": 1.598686695098877, + "z": 1.7579162120819092 + }, + "size": { + "x": 0.08910512924194336, + "y": 0.8506259918212891, + "z": 1.1788530349731445 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|-01.86|+01.20|+02.70", + "object_info": { + "name": "Television_430e1f04", + "position": { + "x": -1.8597434759140015, + "y": 1.200732946395874, + "z": 2.7014834880828857 + }, + "rotation": { + "x": 359.06036376953125, + "y": 179.99822998046875, + "z": -0.0007116764318197966 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.03920316696167, + "objectType": "Television", + "objectId": "Television|-01.86|+01.20|+02.70", + "assetId": "Television_23", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.359736442565918, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.594604730606079 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.594604730606079 + ] + ], + "center": { + "x": -1.8597421646118164, + "y": 1.1164844036102295, + "z": 2.7694149017333984 + }, + "size": { + "x": 1.0000114440917969, + "y": 0.8063507080078125, + "z": 0.34962034225463867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.359734058380127, + 0.7141113877296448, + 2.589648723602295 + ], + [ + -1.3597339391708374, + 0.7141237854957581, + 2.5896799564361572 + ], + [ + -1.359744906425476, + 0.7083142399787903, + 2.9438905715942383 + ], + [ + -2.3597450256347656, + 0.708301842212677, + 2.943859577178955 + ], + [ + -2.3597443103790283, + 1.5198802947998047, + 2.6028645038604736 + ], + [ + -1.3597443103790283, + 1.519892692565918, + 2.602895736694336 + ], + [ + -1.359755277633667, + 1.5140831470489502, + 2.957106351852417 + ], + [ + -2.359755277633667, + 1.514070749282837, + 2.9570751190185547 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Painting|+04.14|+01.59|-00.30", + "object_info": { + "name": "Painting_984aa9d5", + "position": { + "x": 4.136000156402588, + "y": 1.590999960899353, + "z": -0.296999990940094 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.696467399597168, + "objectType": "Painting", + "objectId": "Painting|+04.14|+01.59|-00.30", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.215344429016113, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.215344429016113, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 1.1690006256103516, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 1.1690006256103516, + -0.8613617420196533 + ] + ], + "center": { + "x": 4.170792102813721, + "y": 1.5914161205291748, + "z": -0.27200978994369507 + }, + "size": { + "x": 0.08910465240478516, + "y": 0.8448309898376465, + "z": 1.1787039041519165 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.4000000953674316, + "y": 0.9009991884231567, + "z": -0.800000011920929 + }, + "agent_rotation": { + "x": -0.0, + "y": 43.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.4000000953674316, + "y": 1.5759992599487305, + "z": -0.800000011920929 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Vase|+01.84|+00.78|-00.30", + "Chair|+01.64|00.00|-00.85", + "Plate|+01.36|+00.78|-00.62", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "DiningTable|+01.88|+00.00|-00.29", + "Chair|+02.29|00.00|-00.78" + ], + "different_object": [ + "Chair|+02.22|00.00|+00.15", + "Vase|+01.57|+00.78|-00.31", + "Painting|+04.14|+01.59|-00.30", + "RemoteControl|-02.29|+00.71|+02.75", + "Painting|-00.06|+01.60|+01.73", + "ArmChair|-00.44|+00.01|+01.92", + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75", + "Television|-01.86|+01.20|+02.70", + "TVStand|-01.86|+00.00|+02.79", + "DiningTable|-01.86|+00.23|+02.79", + "Box|+01.27|+00.15|-00.29", + "Chair|+01.46|00.00|+00.20", + "FloorLamp|-00.33|+00.00|+02.73", + "ArmChair|-00.43|+00.01|+01.06" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/15/0_depth_npy.npy b/train/FloorPlan223_physics/15/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ae8ab3f613b1d511d0d3e24673a95c426ed28b74 --- /dev/null +++ b/train/FloorPlan223_physics/15/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:938e343957823963743ef26afe8e9645cd3ea91eb8285923e6eb979cdc066b7a +size 3145856 diff --git a/train/FloorPlan223_physics/15/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/15/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..558086e124c0b4aa5a223b7b7cb7dc2a25a95b42 --- /dev/null +++ b/train/FloorPlan223_physics/15/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf5709936cfd0fb5d877066fffe26d2081b06c93226d45820975f774bb488dcd +size 2359424 diff --git a/train/FloorPlan223_physics/15/1.json b/train/FloorPlan223_physics/15/1.json new file mode 100644 index 0000000000000000000000000000000000000000..2b29928b03ebb44bffc595d22f28b9d738a27fce --- /dev/null +++ b/train/FloorPlan223_physics/15/1.json @@ -0,0 +1,2414 @@ +{ + "object": [ + { + "objectId": "WateringCan|-03.25|00.00|-01.86", + "object_info": { + "name": "WateringCan_31a595df", + "position": { + "x": -3.2522449493408203, + "y": -0.0008590668439865112, + "z": -1.8618444204330444 + }, + "rotation": { + "x": -0.0003620765928644687, + "y": -0.000614947231952101, + "z": 0.0007242992869578302 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.4430603981018066, + "objectType": "WateringCan", + "objectId": "WateringCan|-03.25|00.00|-01.86", + "assetId": "Watering_Can_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.176553726196289, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.9819858074188232 + ] + ], + "center": { + "x": -3.2522456645965576, + "y": 0.09692596644163132, + "z": -1.8485687971115112 + }, + "size": { + "x": 0.1513838768005371, + "y": 0.19385077059268951, + "z": 0.266834020614624 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1765549182891846, + 5.470355972647667e-07, + -1.715149998664856 + ], + [ + -3.3279380798339844, + -6.129266694188118e-07, + -1.7151516675949097 + ], + [ + -3.327935218811035, + -1.2035015970468521e-06, + -1.9819879531860352 + ], + [ + -3.1765518188476562, + -4.353933036327362e-08, + -1.9819862842559814 + ], + [ + -3.176556348800659, + 0.19385217130184174, + -1.7151503562927246 + ], + [ + -3.327939510345459, + 0.19385100901126862, + -1.7151521444320679 + ], + [ + -3.3279366493225098, + 0.19385041296482086, + -1.9819884300231934 + ], + [ + -3.17655348777771, + 0.19385157525539398, + -1.9819867610931396 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Window|+03.48|+01.51|-01.93", + "object_info": { + "name": "Window_dea94267", + "position": { + "x": 3.4800000190734863, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.463291168212891, + "objectType": "Window", + "objectId": "Window|+03.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.960000514984131, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.960000514984131, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -2.0399999618530273 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -2.0399999618530273 + ] + ], + "center": { + "x": 3.5, + "y": 1.0739160776138306, + "z": -1.9994010925292969 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.147834062576294, + "z": 0.08119773864746094 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|-01.61", + "object_info": { + "name": "SideTable_32f926b8", + "position": { + "x": -3.597963809967041, + "y": 0.004360944032669067, + "z": -1.6070078611373901 + }, + "rotation": { + "x": 0.003428330644965172, + "y": 0.002825607778504491, + "z": 359.70733642578125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|-03.58|+00.60|-01.62" + ], + "distance": 3.6033060550689697, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|-01.61", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.425083637237549, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.425083637237549, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.7844332456588745 + ] + ], + "center": { + "x": -3.5953938961029053, + "y": 0.3019649386405945, + "z": -1.6094589233398438 + }, + "size": { + "x": 0.3406205177307129, + "y": 0.6039294004440308, + "z": 0.3499486446380615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425757646560669, + -0.0015295855700969696, + -1.434476375579834 + ], + [ + -3.7657032012939453, + 0.0001298254355788231, + -1.4344571828842163 + ], + [ + -3.76572322845459, + 6.832834333181381e-05, + -1.7844345569610596 + ], + [ + -3.4257779121398926, + -0.0015910826623439789, + -1.7844538688659668 + ], + [ + -3.4228098392486572, + 0.6023802757263184, + -1.4345827102661133 + ], + [ + -3.7627553939819336, + 0.6040396690368652, + -1.4345635175704956 + ], + [ + -3.762775421142578, + 0.603978157043457, + -1.7845408916473389 + ], + [ + -3.4228298664093018, + 0.6023187637329102, + -1.7845600843429565 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.8000001907348633, + "y": 0.9009991884231567, + "z": -0.20000000298023224 + }, + "agent_rotation": { + "x": -0.0, + "y": 219.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.8000001907348633, + "y": 1.5759992599487305, + "z": -0.20000000298023224 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Vase|+01.84|+00.78|-00.30", + "Chair|+01.64|00.00|-00.85", + "Plate|+01.36|+00.78|-00.62", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "DiningTable|+01.88|+00.00|-00.29", + "Chair|+02.29|00.00|-00.78" + ], + "different_object": [ + "WateringCan|-03.25|00.00|-01.86", + "Sofa|-03.42|+00.01|-00.04", + "ArmChair|-02.01|+00.01|-01.58", + "Pillow|-01.93|+00.37|-01.49", + "Window|+03.48|+01.51|-01.93", + "SideTable|-03.60|+00.00|-01.61", + "HousePlant|-03.58|+00.60|-01.62", + "Window|-02.00|+01.51|-01.93", + "Window|+01.48|+01.51|-01.93" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/15/1_depth_npy.npy b/train/FloorPlan223_physics/15/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..2a6e26923e867d08d8f86691c380bb3b11c5b208 --- /dev/null +++ b/train/FloorPlan223_physics/15/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89e46f9ccceb23d306fc677d5c74a60c2ccb7440e9b8e2801650fff2615fe600 +size 3145856 diff --git a/train/FloorPlan223_physics/15/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/15/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..937cb073a97fcbd7372df379d396e467344a3e6e --- /dev/null +++ b/train/FloorPlan223_physics/15/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6bdd85fba6161a34c8398231796d462177f8da2a046992e4fb04f26611280b4 +size 2359424 diff --git a/train/FloorPlan223_physics/15/depth_0.png b/train/FloorPlan223_physics/15/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b78975e0ac60e81f0df8847d2571750e068780ab Binary files /dev/null and b/train/FloorPlan223_physics/15/depth_0.png differ diff --git a/train/FloorPlan223_physics/15/depth_1.png b/train/FloorPlan223_physics/15/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..334a90a114f1fef8a63cff5605f5a1b4d7ceb2be Binary files /dev/null and b/train/FloorPlan223_physics/15/depth_1.png differ diff --git a/train/FloorPlan223_physics/15/mask_questions.jsonl b/train/FloorPlan223_physics/15/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3993e5fd5243fea6a351925ab8f90e62a945d11d --- /dev/null +++ b/train/FloorPlan223_physics/15/mask_questions.jsonl @@ -0,0 +1,2 @@ +{"id": 20372, "folder_dir": "FloorPlan223_physics/15", "pair_name": "0-1:Chair|+01.64|00.00|-00.85", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. Box\nC. Vase\nD. Chair", "answer": "D", "object_name": "Chair", "image_1": "FloorPlan223_physics/15/rgb_0.png", "image_2": "FloorPlan223_physics/15/rgb_1.png", "mask_image": "FloorPlan223_physics/15/rgb_1_mask_Chair|+01.64|00.00|-00.85.png", "options": ["DiningTable", "Box", "Vase", "Chair"]} +{"id": 20373, "folder_dir": "FloorPlan223_physics/15", "pair_name": "1-0:CoffeeTable|-02.02|+00.01|+00.02", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ArmChair\nB. WateringCan\nC. CoffeeTable\nD. Vase", "answer": "C", "object_name": "CoffeeTable", "image_1": "FloorPlan223_physics/15/rgb_1.png", "image_2": "FloorPlan223_physics/15/rgb_0.png", "mask_image": "FloorPlan223_physics/15/rgb_0_mask_CoffeeTable|-02.02|+00.01|+00.02.png", "options": ["ArmChair", "WateringCan", "CoffeeTable", "Vase"]} diff --git a/train/FloorPlan223_physics/15/rgb_0.png b/train/FloorPlan223_physics/15/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..1ef20aa464bada15a9a81945f185cccd6490f834 --- /dev/null +++ b/train/FloorPlan223_physics/15/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9994ca2043b089228f199c1e4dd40d645d255d4a67371d151d1724b09027aed0 +size 848329 diff --git a/train/FloorPlan223_physics/15/rgb_0_mask_CoffeeTable|-02.02|+00.01|+00.02.png b/train/FloorPlan223_physics/15/rgb_0_mask_CoffeeTable|-02.02|+00.01|+00.02.png new file mode 100644 index 0000000000000000000000000000000000000000..aa28066bda71c7f1fb7d24d18741c9ba90a08198 --- /dev/null +++ b/train/FloorPlan223_physics/15/rgb_0_mask_CoffeeTable|-02.02|+00.01|+00.02.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5df836576fb0ddf02a540ae7ff90f7601cc27e5f27d36bf0014a1822aaca917 +size 726463 diff --git a/train/FloorPlan223_physics/15/rgb_1.png b/train/FloorPlan223_physics/15/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a54b62f5200e3f2bfd0eb5dcc6ee022fdef62ad8 --- /dev/null +++ b/train/FloorPlan223_physics/15/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66706cb788d6bd74ef0c589e3b6f650f6b75f33b51208a3f98f7f36d6bbfc4fe +size 793211 diff --git a/train/FloorPlan223_physics/15/rgb_1_mask_Chair|+01.64|00.00|-00.85.png b/train/FloorPlan223_physics/15/rgb_1_mask_Chair|+01.64|00.00|-00.85.png new file mode 100644 index 0000000000000000000000000000000000000000..5b73f37c29425fba2ecd362fde3aa8dda56d1df7 --- /dev/null +++ b/train/FloorPlan223_physics/15/rgb_1_mask_Chair|+01.64|00.00|-00.85.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e037a9cf04585c0cd559ca310fb4bc73af92eea1fb75cc27e6623d980bf6aa06 +size 693092 diff --git a/train/FloorPlan223_physics/15/semantic_0.png b/train/FloorPlan223_physics/15/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..bd19fe984b1d7d8d3405e115ce8ec8fbd1330dc9 Binary files /dev/null and b/train/FloorPlan223_physics/15/semantic_0.png differ diff --git a/train/FloorPlan223_physics/15/semantic_1.png b/train/FloorPlan223_physics/15/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..474354c0d6d6ee60fe0faa9e06d8d0d3f1d602bc Binary files /dev/null and b/train/FloorPlan223_physics/15/semantic_1.png differ diff --git a/train/FloorPlan223_physics/16/0.json b/train/FloorPlan223_physics/16/0.json new file mode 100644 index 0000000000000000000000000000000000000000..ca7eb694448c103a17f8450b2e17f98d645ef2d9 --- /dev/null +++ b/train/FloorPlan223_physics/16/0.json @@ -0,0 +1,1083 @@ +{ + "object": [ + { + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "object_info": { + "name": "RemoteControl_09703e97", + "position": { + "x": -2.2912778854370117, + "y": 0.7151373624801636, + "z": 2.7494349479675293 + }, + "rotation": { + "x": 359.9211120605469, + "y": 0.35118886828422546, + "z": 359.98101806640625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.2867329120635986, + "objectType": "RemoteControl", + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "assetId": "Remote_3", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.256807565689087, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.6374101638793945 + ] + ], + "center": { + "x": -2.290771484375, + "y": 0.7245430946350098, + "z": 2.7473092079162598 + }, + "size": { + "x": 0.06792783737182617, + "y": 0.02184438705444336, + "z": 0.21979808807373047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.256814479827881, + 0.7139212489128113, + 2.8567938804626465 + ], + [ + -2.3244235515594482, + 0.713943600654602, + 2.857208251953125 + ], + [ + -2.325768232345581, + 0.7136415839195251, + 2.6378211975097656 + ], + [ + -2.2581591606140137, + 0.7136191725730896, + 2.637406826019287 + ], + [ + -2.256807565689087, + 0.7354427576065063, + 2.856764078140259 + ], + [ + -2.3244166374206543, + 0.7354651689529419, + 2.8571784496307373 + ], + [ + -2.325761318206787, + 0.735163152217865, + 2.637791633605957 + ], + [ + -2.2581522464752197, + 0.7351407408714294, + 2.6373772621154785 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "object_info": { + "name": "LightSwitch_477ce142", + "position": { + "x": -3.9000000953674316, + "y": 1.284000039100647, + "z": 1.684000015258789 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.813469171524048, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.8669681549072266, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.64006507396698 + ] + ], + "center": { + "x": -3.883484125137329, + "y": 1.2851357460021973, + "z": 1.684000015258789 + }, + "size": { + "x": 0.03303194046020508, + "y": 0.1647193431854248, + "z": 0.08786988258361816 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|+01.44", + "object_info": { + "name": "SideTable_ef1b602c", + "position": { + "x": -3.5979855060577393, + "y": 0.004337579011917114, + "z": 1.4379733800888062 + }, + "rotation": { + "x": 359.8045959472656, + "y": -0.00013349241635296494, + "z": 359.9132080078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|-03.59|+00.60|+01.43" + ], + "distance": 3.5311872959136963, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|+01.44", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.4255571365356445, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.260542392730713 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.260542392730713 + ] + ], + "center": { + "x": -3.5956337451934814, + "y": 0.3019368052482605, + "z": 1.4354181289672852 + }, + "size": { + "x": 0.34015321731567383, + "y": 0.6039015054702759, + "z": 0.34975147247314453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425769567489624, + -0.000412600114941597, + 1.610532522201538 + ], + [ + -3.765719413757324, + 0.00010331394150853157, + 1.6105319261550903 + ], + [ + -3.7657206058502197, + -0.0010759038850665092, + 1.260555386543274 + ], + [ + -3.4257707595825195, + -0.0015918179415166378, + 1.2605559825897217 + ], + [ + -3.4248530864715576, + 0.6035022735595703, + 1.6084977388381958 + ], + [ + -3.764802932739258, + 0.6040182113647461, + 1.608497142791748 + ], + [ + -3.7648041248321533, + 0.6028389930725098, + 1.258520483970642 + ], + [ + -3.424854278564453, + 0.602323055267334, + 1.2585210800170898 + ] + ] + } + } + }, + { + "objectId": "Statue|-03.59|+00.60|+01.43", + "object_info": { + "name": "Statue_b51b8ac3", + "position": { + "x": -3.591968536376953, + "y": 0.6028220653533936, + "z": 1.4310815334320068 + }, + "rotation": { + "x": 0.07878818362951279, + "y": 90.00411224365234, + "z": 359.8116455078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.4201130867004395, + "objectType": "Statue", + "objectId": "Statue|-03.59|+00.60|+01.43", + "assetId": "Towel_Statue_1", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|+01.44" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.5098624229431152, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.3489149808883667 + ] + ], + "center": { + "x": -3.5919289588928223, + "y": 0.8084835410118103, + "z": 1.4310238361358643 + }, + "size": { + "x": 0.16413307189941406, + "y": 0.4112800359725952, + "z": 0.16421771049499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.5099401473999023, + 0.6027724146842957, + 1.3490607738494873 + ], + [ + -3.5099236965179443, + 0.603306770324707, + 1.5131219625473022 + ], + [ + -3.673985004425049, + 0.6035440564155579, + 1.513137698173523 + ], + [ + -3.674001455307007, + 0.6030097007751465, + 1.349076509475708 + ], + [ + -3.509345769882202, + 1.0137324333190918, + 1.3477221727371216 + ], + [ + -3.509329319000244, + 1.014266848564148, + 1.5117833614349365 + ], + [ + -3.6733906269073486, + 1.0145041942596436, + 1.5117990970611572 + ], + [ + -3.6734070777893066, + 1.0139697790145874, + 1.3477379083633423 + ] + ] + } + } + }, + { + "objectId": "TVStand|-01.86|+00.00|+02.79", + "object_info": { + "name": "TVStand_3ce96f2f", + "position": { + "x": -1.8579983711242676, + "y": 0.00039079785346984863, + "z": 2.787977933883667 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Television|-01.86|+01.20|+02.70", + "RemoteControl|-02.29|+00.71|+02.75" + ], + "distance": 3.2292532920837402, + "objectType": "TVStand", + "objectId": "TVStand|-01.86|+00.00|+02.79", + "assetId": "TV_Stand_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3527679443359375, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -1.3527679443359375, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.6121463775634766 + ] + ], + "center": { + "x": -1.8609373569488525, + "y": 0.35679537057876587, + "z": 2.7879385948181152 + }, + "size": { + "x": 1.01633882522583, + "y": 0.7136019468307495, + "z": 0.35158443450927734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.3528119325637817, + 2.9323389753699303e-05, + 2.963749408721924 + ], + [ + -2.3691158294677734, + 7.576588541269302e-05, + 2.9637136459350586 + ], + [ + -2.36910343170166, + 3.9373175241053104e-05, + 2.61221981048584 + ], + [ + -1.352799654006958, + -7.069320417940617e-06, + 2.612255334854126 + ], + [ + -1.3527793884277344, + 0.7135501503944397, + 2.9636754989624023 + ], + [ + -2.3690831661224365, + 0.7135965824127197, + 2.963639736175537 + ], + [ + -2.3690710067749023, + 0.7135602235794067, + 2.6121459007263184 + ], + [ + -1.352766990661621, + 0.7135137915611267, + 2.6121814250946045 + ] + ] + } + } + }, + { + "objectId": "Television|-01.86|+01.20|+02.70", + "object_info": { + "name": "Television_430e1f04", + "position": { + "x": -1.8597434759140015, + "y": 1.200732946395874, + "z": 2.7014834880828857 + }, + "rotation": { + "x": 359.06036376953125, + "y": 179.99822998046875, + "z": -0.0007116764318197966 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.03920316696167, + "objectType": "Television", + "objectId": "Television|-01.86|+01.20|+02.70", + "assetId": "Television_23", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.359736442565918, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.594604730606079 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.594604730606079 + ] + ], + "center": { + "x": -1.8597421646118164, + "y": 1.1164844036102295, + "z": 2.7694149017333984 + }, + "size": { + "x": 1.0000114440917969, + "y": 0.8063507080078125, + "z": 0.34962034225463867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.359734058380127, + 0.7141113877296448, + 2.589648723602295 + ], + [ + -1.3597339391708374, + 0.7141237854957581, + 2.5896799564361572 + ], + [ + -1.359744906425476, + 0.7083142399787903, + 2.9438905715942383 + ], + [ + -2.3597450256347656, + 0.708301842212677, + 2.943859577178955 + ], + [ + -2.3597443103790283, + 1.5198802947998047, + 2.6028645038604736 + ], + [ + -1.3597443103790283, + 1.519892692565918, + 2.602895736694336 + ], + [ + -1.359755277633667, + 1.5140831470489502, + 2.957106351852417 + ], + [ + -2.359755277633667, + 1.514070749282837, + 2.9570751190185547 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -1.899999976158142, + "y": 0.9009991884231567, + "z": 1.100000023841858 + }, + "agent_rotation": { + "x": -0.0, + "y": 296.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.899999976158142, + "y": 1.5759992599487305, + "z": 1.100000023841858 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Sofa|-03.42|+00.01|-00.04", + "Statue|-03.59|+00.60|+01.43", + "SideTable|-03.60|+00.00|+01.44", + "LightSwitch|-03.90|+01.28|+01.68" + ], + "different_object": [ + "RemoteControl|-02.29|+00.71|+02.75", + "TVStand|-01.86|+00.00|+02.79", + "Television|-01.86|+01.20|+02.70" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/16/0_depth_npy.npy b/train/FloorPlan223_physics/16/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..186763fe0cc579f58e55b3fd9392d13dac23e2b4 --- /dev/null +++ b/train/FloorPlan223_physics/16/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fdbd75bab0fb7ff30f3fd348916e9640e2aa79eb310713a4e8537e94b794c3f9 +size 3145856 diff --git a/train/FloorPlan223_physics/16/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/16/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5480b50491aa478546db757571f1bcf291ee76e4 --- /dev/null +++ b/train/FloorPlan223_physics/16/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75e9e89d35821e868d21e07a5216800a075d08f5473fbb12a7e34cb3028e9855 +size 2359424 diff --git a/train/FloorPlan223_physics/16/1.json b/train/FloorPlan223_physics/16/1.json new file mode 100644 index 0000000000000000000000000000000000000000..f3e3ad525cc37e51475d0f550df96d93deb04ae8 --- /dev/null +++ b/train/FloorPlan223_physics/16/1.json @@ -0,0 +1,1037 @@ +{ + "object": [ + { + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "object_info": { + "name": "LightSwitch_477ce142", + "position": { + "x": -3.9000000953674316, + "y": 1.284000039100647, + "z": 1.684000015258789 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.813469171524048, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.8669681549072266, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.64006507396698 + ] + ], + "center": { + "x": -3.883484125137329, + "y": 1.2851357460021973, + "z": 1.684000015258789 + }, + "size": { + "x": 0.03303194046020508, + "y": 0.1647193431854248, + "z": 0.08786988258361816 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|+01.44", + "object_info": { + "name": "SideTable_ef1b602c", + "position": { + "x": -3.5979855060577393, + "y": 0.004337579011917114, + "z": 1.4379733800888062 + }, + "rotation": { + "x": 359.8045959472656, + "y": -0.00013349241635296494, + "z": 359.9132080078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|-03.59|+00.60|+01.43" + ], + "distance": 3.5311872959136963, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|+01.44", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.4255571365356445, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.260542392730713 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.260542392730713 + ] + ], + "center": { + "x": -3.5956337451934814, + "y": 0.3019368052482605, + "z": 1.4354181289672852 + }, + "size": { + "x": 0.34015321731567383, + "y": 0.6039015054702759, + "z": 0.34975147247314453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425769567489624, + -0.000412600114941597, + 1.610532522201538 + ], + [ + -3.765719413757324, + 0.00010331394150853157, + 1.6105319261550903 + ], + [ + -3.7657206058502197, + -0.0010759038850665092, + 1.260555386543274 + ], + [ + -3.4257707595825195, + -0.0015918179415166378, + 1.2605559825897217 + ], + [ + -3.4248530864715576, + 0.6035022735595703, + 1.6084977388381958 + ], + [ + -3.764802932739258, + 0.6040182113647461, + 1.608497142791748 + ], + [ + -3.7648041248321533, + 0.6028389930725098, + 1.258520483970642 + ], + [ + -3.424854278564453, + 0.602323055267334, + 1.2585210800170898 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Statue|-03.59|+00.60|+01.43", + "object_info": { + "name": "Statue_b51b8ac3", + "position": { + "x": -3.591968536376953, + "y": 0.6028220653533936, + "z": 1.4310815334320068 + }, + "rotation": { + "x": 0.07878818362951279, + "y": 90.00411224365234, + "z": 359.8116455078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.4201130867004395, + "objectType": "Statue", + "objectId": "Statue|-03.59|+00.60|+01.43", + "assetId": "Towel_Statue_1", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|+01.44" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.5098624229431152, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.3489149808883667 + ] + ], + "center": { + "x": -3.5919289588928223, + "y": 0.8084835410118103, + "z": 1.4310238361358643 + }, + "size": { + "x": 0.16413307189941406, + "y": 0.4112800359725952, + "z": 0.16421771049499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.5099401473999023, + 0.6027724146842957, + 1.3490607738494873 + ], + [ + -3.5099236965179443, + 0.603306770324707, + 1.5131219625473022 + ], + [ + -3.673985004425049, + 0.6035440564155579, + 1.513137698173523 + ], + [ + -3.674001455307007, + 0.6030097007751465, + 1.349076509475708 + ], + [ + -3.509345769882202, + 1.0137324333190918, + 1.3477221727371216 + ], + [ + -3.509329319000244, + 1.014266848564148, + 1.5117833614349365 + ], + [ + -3.6733906269073486, + 1.0145041942596436, + 1.5117990970611572 + ], + [ + -3.6734070777893066, + 1.0139697790145874, + 1.3477379083633423 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.200000047683716, + "y": 0.9009991884231567, + "z": 2.4000000953674316 + }, + "agent_rotation": { + "x": -0.0, + "y": 236.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.200000047683716, + "y": 1.5759992599487305, + "z": 2.4000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Sofa|-03.42|+00.01|-00.04", + "Statue|-03.59|+00.60|+01.43", + "SideTable|-03.60|+00.00|+01.44", + "LightSwitch|-03.90|+01.28|+01.68" + ], + "different_object": [ + "CoffeeTable|-02.02|+00.01|+00.02", + "Window|-02.00|+01.51|-01.93", + "HousePlant|-03.58|+00.60|-01.62" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/16/1_depth_npy.npy b/train/FloorPlan223_physics/16/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5ef16fd421259afa448cdd568a3cfea6a325351b --- /dev/null +++ b/train/FloorPlan223_physics/16/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b5b2b357298e3aec8d3904fad3d0f7ffc409aa93845527a8a9721d99ad9daf0 +size 3145856 diff --git a/train/FloorPlan223_physics/16/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/16/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8e41d3d1671f407fd1c86b34f78dcdef4f65e66b --- /dev/null +++ b/train/FloorPlan223_physics/16/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f3933006f486411857c716e160f13a9df6fc49c4d465f52e6c22e375a94eb54 +size 2359424 diff --git a/train/FloorPlan223_physics/16/depth_0.png b/train/FloorPlan223_physics/16/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..924df509f055654b98b5999b1b7e743dd01d743b Binary files /dev/null and b/train/FloorPlan223_physics/16/depth_0.png differ diff --git a/train/FloorPlan223_physics/16/depth_1.png b/train/FloorPlan223_physics/16/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bec1dfa2944508533875a5b480ca4d16a1e22378 Binary files /dev/null and b/train/FloorPlan223_physics/16/depth_1.png differ diff --git a/train/FloorPlan223_physics/16/mask_questions.jsonl b/train/FloorPlan223_physics/16/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ee8f8f56b4b29a46ee0769b3d740047c8893a11 --- /dev/null +++ b/train/FloorPlan223_physics/16/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 20314, "folder_dir": "FloorPlan223_physics/16", "pair_name": "0-1:Statue|-03.59|+00.60|+01.43", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Sofa\nB. RemoteControl\nC. Statue\nD. Television", "answer": "C", "object_name": "Statue", "image_1": "FloorPlan223_physics/16/rgb_0.png", "image_2": "FloorPlan223_physics/16/rgb_1.png", "mask_image": "FloorPlan223_physics/16/rgb_1_mask_Statue|-03.59|+00.60|+01.43.png", "options": ["Sofa", "RemoteControl", "Statue", "Television"]} +{"id": 20315, "folder_dir": "FloorPlan223_physics/16", "pair_name": "0-1:SideTable|-03.60|+00.00|+01.44", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. RemoteControl\nB. SideTable\nC. Sofa\nD. Television", "answer": "B", "object_name": "SideTable", "image_1": "FloorPlan223_physics/16/rgb_0.png", "image_2": "FloorPlan223_physics/16/rgb_1.png", "mask_image": "FloorPlan223_physics/16/rgb_1_mask_SideTable|-03.60|+00.00|+01.44.png", "options": ["RemoteControl", "SideTable", "Sofa", "Television"]} +{"id": 20316, "folder_dir": "FloorPlan223_physics/16", "pair_name": "1-0:Sofa|-03.42|+00.01|-00.04", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. Sofa\nC. HousePlant\nD. Statue", "answer": "B", "object_name": "Sofa", "image_1": "FloorPlan223_physics/16/rgb_1.png", "image_2": "FloorPlan223_physics/16/rgb_0.png", "mask_image": "FloorPlan223_physics/16/rgb_0_mask_Sofa|-03.42|+00.01|-00.04.png", "options": ["Window", "Sofa", "HousePlant", "Statue"]} +{"id": 20317, "folder_dir": "FloorPlan223_physics/16", "pair_name": "1-0:Statue|-03.59|+00.60|+01.43", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CoffeeTable\nB. Sofa\nC. Window\nD. Statue", "answer": "D", "object_name": "Statue", "image_1": "FloorPlan223_physics/16/rgb_1.png", "image_2": "FloorPlan223_physics/16/rgb_0.png", "mask_image": "FloorPlan223_physics/16/rgb_0_mask_Statue|-03.59|+00.60|+01.43.png", "options": ["CoffeeTable", "Sofa", "Window", "Statue"]} +{"id": 20318, "folder_dir": "FloorPlan223_physics/16", "pair_name": "1-0:SideTable|-03.60|+00.00|+01.44", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CoffeeTable\nB. Sofa\nC. Window\nD. SideTable", "answer": "D", "object_name": "SideTable", "image_1": "FloorPlan223_physics/16/rgb_1.png", "image_2": "FloorPlan223_physics/16/rgb_0.png", "mask_image": "FloorPlan223_physics/16/rgb_0_mask_SideTable|-03.60|+00.00|+01.44.png", "options": ["CoffeeTable", "Sofa", "Window", "SideTable"]} diff --git a/train/FloorPlan223_physics/16/questions_distance.jsonl b/train/FloorPlan223_physics/16/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e14e52ec9157d0c2abc817ec24e178df2461a0d --- /dev/null +++ b/train/FloorPlan223_physics/16/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 6005, "folder_dir": "FloorPlan223_physics/16", "query": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CoffeeTable\nB. SideTable\nC. Statue\nD. Other\n", "answer": "A", "src_object": "Sofa", "target_object": "CoffeeTable", "question": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "CoffeeTable", "semantic_id": "CoffeeTable|-02.02|+00.01|+00.02", "distance": 1.4598880785936588, "com": {"x": -2.0229990482330322, "y": 0.2217133343219757, "z": 0.017372846603393555}}, {"text": "SideTable", "semantic_id": "SideTable|-03.60|+00.00|+01.44", "distance": 1.528356811696771, "com": {"x": -3.5956337451934814, "y": 0.3019368052482605, "z": 1.4354181289672852}}, {"text": "Statue", "semantic_id": "Statue|-03.59|+00.60|+01.43", "distance": 1.4930134418687686, "com": {"x": -3.5919289588928223, "y": 0.8084835410118103, "z": 1.4310238361358643}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/16/rgb_0.png", "image_2": "FloorPlan223_physics/16/rgb_1.png"} +{"id": 6006, "folder_dir": "FloorPlan223_physics/16", "query": "Which of the following objects is closest to SideTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Sofa\nB. Statue\nC. LightSwitch\nD. Other\n", "answer": "B", "src_object": "SideTable", "target_object": "Statue", "question": "Which of the following objects is closest to SideTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Sofa", "semantic_id": "Sofa|-03.42|+00.01|-00.04", "distance": 1.528356811696771, "com": {"x": -3.4184064865112305, "y": 0.646526575088501, "z": -0.04300093650817871}}, {"text": "Statue", "semantic_id": "Statue|-03.59|+00.60|+01.43", "distance": 0.5065793430092954, "com": {"x": -3.5919289588928223, "y": 0.8084835410118103, "z": 1.4310238361358643}}, {"text": "LightSwitch", "semantic_id": "LightSwitch|-03.90|+01.28|+01.68", "distance": 1.0541968281709648, "com": {"x": -3.883484125137329, "y": 1.2851357460021973, "z": 1.684000015258789}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/16/rgb_0.png", "image_2": "FloorPlan223_physics/16/rgb_1.png"} diff --git a/train/FloorPlan223_physics/16/rgb_0.png b/train/FloorPlan223_physics/16/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..50473e3d07da787d69fde1863c82c3571f85706c --- /dev/null +++ b/train/FloorPlan223_physics/16/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8f378781e39d83140770af42697831c680599d33a04021e8e863cad2e6c24ad +size 604139 diff --git a/train/FloorPlan223_physics/16/rgb_0_mask_SideTable|-03.60|+00.00|+01.44.png b/train/FloorPlan223_physics/16/rgb_0_mask_SideTable|-03.60|+00.00|+01.44.png new file mode 100644 index 0000000000000000000000000000000000000000..6017d1d470b18f8053c2dd200fe078a668506933 --- /dev/null +++ b/train/FloorPlan223_physics/16/rgb_0_mask_SideTable|-03.60|+00.00|+01.44.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18c5385a5cb262d34d5bab22767aa4b3d0f31b0cc2bfc2a2b8c72adf9385f8c3 +size 515852 diff --git a/train/FloorPlan223_physics/16/rgb_0_mask_Sofa|-03.42|+00.01|-00.04.png b/train/FloorPlan223_physics/16/rgb_0_mask_Sofa|-03.42|+00.01|-00.04.png new file mode 100644 index 0000000000000000000000000000000000000000..b9a439c838cf749ee421b3943047f2cf89bcb3f9 --- /dev/null +++ b/train/FloorPlan223_physics/16/rgb_0_mask_Sofa|-03.42|+00.01|-00.04.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6166f7469cc2ad92e718b86e98d8dbe8372dcd5b4864a00bea90809bbc617c41 +size 401419 diff --git a/train/FloorPlan223_physics/16/rgb_0_mask_Statue|-03.59|+00.60|+01.43.png b/train/FloorPlan223_physics/16/rgb_0_mask_Statue|-03.59|+00.60|+01.43.png new file mode 100644 index 0000000000000000000000000000000000000000..76a68ce5648807012a586f55aa204c2a762b7ef5 --- /dev/null +++ b/train/FloorPlan223_physics/16/rgb_0_mask_Statue|-03.59|+00.60|+01.43.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9dbd05e9bc21ce0ad64acaa01368295af9ff866a655c7446f10ad12caeaa0b88 +size 532138 diff --git a/train/FloorPlan223_physics/16/rgb_1.png b/train/FloorPlan223_physics/16/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..3373fa7e6de4b99b3a4de4ef9d71cf666d39a89a --- /dev/null +++ b/train/FloorPlan223_physics/16/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ba7b8957869571e766b20c02e50b9540a5fc4db980f875452360b68fc1e7f6d +size 628501 diff --git a/train/FloorPlan223_physics/16/rgb_1_mask_SideTable|-03.60|+00.00|+01.44.png b/train/FloorPlan223_physics/16/rgb_1_mask_SideTable|-03.60|+00.00|+01.44.png new file mode 100644 index 0000000000000000000000000000000000000000..70ed6beecf5be8ee346e7510820b23d868aff83e --- /dev/null +++ b/train/FloorPlan223_physics/16/rgb_1_mask_SideTable|-03.60|+00.00|+01.44.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a68edfa185f7a5a3e5d1bf04411649a1d683ddaae3b47e63f2416d4f273e948 +size 531062 diff --git a/train/FloorPlan223_physics/16/rgb_1_mask_Statue|-03.59|+00.60|+01.43.png b/train/FloorPlan223_physics/16/rgb_1_mask_Statue|-03.59|+00.60|+01.43.png new file mode 100644 index 0000000000000000000000000000000000000000..337ac61996971f74ef61aeb7fcb419915071c654 --- /dev/null +++ b/train/FloorPlan223_physics/16/rgb_1_mask_Statue|-03.59|+00.60|+01.43.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc12c38190add5ec3d819c029c28b7ad509abd10d993fc9b7cd7a98e02ca66f8 +size 550994 diff --git a/train/FloorPlan223_physics/16/semantic_0.png b/train/FloorPlan223_physics/16/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..8fdcf7a4ae33ab29624bcf612f98d171eb72afb5 Binary files /dev/null and b/train/FloorPlan223_physics/16/semantic_0.png differ diff --git a/train/FloorPlan223_physics/16/semantic_1.png b/train/FloorPlan223_physics/16/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..1f4aa2a0a333db080deecc054594478bbb00daff Binary files /dev/null and b/train/FloorPlan223_physics/16/semantic_1.png differ diff --git a/train/FloorPlan223_physics/17/0.json b/train/FloorPlan223_physics/17/0.json new file mode 100644 index 0000000000000000000000000000000000000000..35c6da3675a4e328eccddb75f371a0203af1ecca --- /dev/null +++ b/train/FloorPlan223_physics/17/0.json @@ -0,0 +1,1354 @@ +{ + "object": [ + { + "objectId": "Statue|-02.04|+00.24|+02.75", + "object_info": { + "name": "Statue_2147f514", + "position": { + "x": -2.0441362857818604, + "y": 0.2397981435060501, + "z": 2.7487399578094482 + }, + "rotation": { + "x": 0.5867406129837036, + "y": 359.98504638671875, + "z": 0.9680944681167603 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Stone" + ], + "receptacleObjectIds": null, + "distance": 3.221353054046631, + "objectType": "Statue", + "objectId": "Statue|-02.04|+00.24|+02.75", + "assetId": "Dog_Statue_4", + "parentReceptacles": [ + "DiningTable|-01.86|+00.23|+02.79", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.9340085983276367, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.7116007804870605 + ] + ], + "center": { + "x": -2.067904472351074, + "y": 0.33797669410705566, + "z": 2.777303695678711 + }, + "size": { + "x": 0.267791748046875, + "y": 0.20818185806274414, + "z": 0.13140583038330078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.932020902633667, + 0.23496071994304657, + 2.8412842750549316 + ], + [ + -2.2012362480163574, + 0.23041173815727234, + 2.841167449951172 + ], + [ + -2.201202392578125, + 0.2317402958869934, + 2.711437225341797 + ], + [ + -1.9319870471954346, + 0.23628926277160645, + 2.7115540504455566 + ], + [ + -1.9355692863464355, + 0.44490715861320496, + 2.843433380126953 + ], + [ + -2.204784631729126, + 0.44035816192626953, + 2.8433165550231934 + ], + [ + -2.2047507762908936, + 0.4416867196559906, + 2.7135863304138184 + ], + [ + -1.9355354309082031, + 0.446235716342926, + 2.713703155517578 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "object_info": { + "name": "DiningTable_42373f1f", + "position": { + "x": -1.8579727411270142, + "y": 0.2316993921995163, + "z": 2.7878525257110596 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75" + ], + "distance": 3.172408103942871, + "objectType": "DiningTable", + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.353766918182373, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.6145288944244385 + ] + ], + "center": { + "x": -1.8579730987548828, + "y": 0.27928826212882996, + "z": 2.787849187850952 + }, + "size": { + "x": 1.0084123611450195, + "y": 0.09547990560531616, + "z": 0.34664058685302734 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "object_info": { + "name": "RemoteControl_09703e97", + "position": { + "x": -2.2912778854370117, + "y": 0.7151373624801636, + "z": 2.7494349479675293 + }, + "rotation": { + "x": 359.9211120605469, + "y": 0.35118886828422546, + "z": 359.98101806640625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.2867329120635986, + "objectType": "RemoteControl", + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "assetId": "Remote_3", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.256807565689087, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.6374101638793945 + ] + ], + "center": { + "x": -2.290771484375, + "y": 0.7245430946350098, + "z": 2.7473092079162598 + }, + "size": { + "x": 0.06792783737182617, + "y": 0.02184438705444336, + "z": 0.21979808807373047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.256814479827881, + 0.7139212489128113, + 2.8567938804626465 + ], + [ + -2.3244235515594482, + 0.713943600654602, + 2.857208251953125 + ], + [ + -2.325768232345581, + 0.7136415839195251, + 2.6378211975097656 + ], + [ + -2.2581591606140137, + 0.7136191725730896, + 2.637406826019287 + ], + [ + -2.256807565689087, + 0.7354427576065063, + 2.856764078140259 + ], + [ + -2.3244166374206543, + 0.7354651689529419, + 2.8571784496307373 + ], + [ + -2.325761318206787, + 0.735163152217865, + 2.637791633605957 + ], + [ + -2.2581522464752197, + 0.7351407408714294, + 2.6373772621154785 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "object_info": { + "name": "LightSwitch_477ce142", + "position": { + "x": -3.9000000953674316, + "y": 1.284000039100647, + "z": 1.684000015258789 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.813469171524048, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.8669681549072266, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.64006507396698 + ] + ], + "center": { + "x": -3.883484125137329, + "y": 1.2851357460021973, + "z": 1.684000015258789 + }, + "size": { + "x": 0.03303194046020508, + "y": 0.1647193431854248, + "z": 0.08786988258361816 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|+01.44", + "object_info": { + "name": "SideTable_ef1b602c", + "position": { + "x": -3.5979855060577393, + "y": 0.004337579011917114, + "z": 1.4379733800888062 + }, + "rotation": { + "x": 359.8045959472656, + "y": -0.00013349241635296494, + "z": 359.9132080078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|-03.59|+00.60|+01.43" + ], + "distance": 3.5311872959136963, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|+01.44", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.4255571365356445, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.260542392730713 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.260542392730713 + ] + ], + "center": { + "x": -3.5956337451934814, + "y": 0.3019368052482605, + "z": 1.4354181289672852 + }, + "size": { + "x": 0.34015321731567383, + "y": 0.6039015054702759, + "z": 0.34975147247314453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425769567489624, + -0.000412600114941597, + 1.610532522201538 + ], + [ + -3.765719413757324, + 0.00010331394150853157, + 1.6105319261550903 + ], + [ + -3.7657206058502197, + -0.0010759038850665092, + 1.260555386543274 + ], + [ + -3.4257707595825195, + -0.0015918179415166378, + 1.2605559825897217 + ], + [ + -3.4248530864715576, + 0.6035022735595703, + 1.6084977388381958 + ], + [ + -3.764802932739258, + 0.6040182113647461, + 1.608497142791748 + ], + [ + -3.7648041248321533, + 0.6028389930725098, + 1.258520483970642 + ], + [ + -3.424854278564453, + 0.602323055267334, + 1.2585210800170898 + ] + ] + } + } + }, + { + "objectId": "Statue|-03.59|+00.60|+01.43", + "object_info": { + "name": "Statue_b51b8ac3", + "position": { + "x": -3.591968536376953, + "y": 0.6028220653533936, + "z": 1.4310815334320068 + }, + "rotation": { + "x": 0.07878818362951279, + "y": 90.00411224365234, + "z": 359.8116455078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.4201130867004395, + "objectType": "Statue", + "objectId": "Statue|-03.59|+00.60|+01.43", + "assetId": "Towel_Statue_1", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|+01.44" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.5098624229431152, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.3489149808883667 + ] + ], + "center": { + "x": -3.5919289588928223, + "y": 0.8084835410118103, + "z": 1.4310238361358643 + }, + "size": { + "x": 0.16413307189941406, + "y": 0.4112800359725952, + "z": 0.16421771049499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.5099401473999023, + 0.6027724146842957, + 1.3490607738494873 + ], + [ + -3.5099236965179443, + 0.603306770324707, + 1.5131219625473022 + ], + [ + -3.673985004425049, + 0.6035440564155579, + 1.513137698173523 + ], + [ + -3.674001455307007, + 0.6030097007751465, + 1.349076509475708 + ], + [ + -3.509345769882202, + 1.0137324333190918, + 1.3477221727371216 + ], + [ + -3.509329319000244, + 1.014266848564148, + 1.5117833614349365 + ], + [ + -3.6733906269073486, + 1.0145041942596436, + 1.5117990970611572 + ], + [ + -3.6734070777893066, + 1.0139697790145874, + 1.3477379083633423 + ] + ] + } + } + }, + { + "objectId": "TVStand|-01.86|+00.00|+02.79", + "object_info": { + "name": "TVStand_3ce96f2f", + "position": { + "x": -1.8579983711242676, + "y": 0.00039079785346984863, + "z": 2.787977933883667 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Television|-01.86|+01.20|+02.70", + "RemoteControl|-02.29|+00.71|+02.75" + ], + "distance": 3.2292532920837402, + "objectType": "TVStand", + "objectId": "TVStand|-01.86|+00.00|+02.79", + "assetId": "TV_Stand_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3527679443359375, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -1.3527679443359375, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.6121463775634766 + ] + ], + "center": { + "x": -1.8609373569488525, + "y": 0.35679537057876587, + "z": 2.7879385948181152 + }, + "size": { + "x": 1.01633882522583, + "y": 0.7136019468307495, + "z": 0.35158443450927734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.3528119325637817, + 2.9323389753699303e-05, + 2.963749408721924 + ], + [ + -2.3691158294677734, + 7.576588541269302e-05, + 2.9637136459350586 + ], + [ + -2.36910343170166, + 3.9373175241053104e-05, + 2.61221981048584 + ], + [ + -1.352799654006958, + -7.069320417940617e-06, + 2.612255334854126 + ], + [ + -1.3527793884277344, + 0.7135501503944397, + 2.9636754989624023 + ], + [ + -2.3690831661224365, + 0.7135965824127197, + 2.963639736175537 + ], + [ + -2.3690710067749023, + 0.7135602235794067, + 2.6121459007263184 + ], + [ + -1.352766990661621, + 0.7135137915611267, + 2.6121814250946045 + ] + ] + } + } + }, + { + "objectId": "Television|-01.86|+01.20|+02.70", + "object_info": { + "name": "Television_430e1f04", + "position": { + "x": -1.8597434759140015, + "y": 1.200732946395874, + "z": 2.7014834880828857 + }, + "rotation": { + "x": 359.06036376953125, + "y": 179.99822998046875, + "z": -0.0007116764318197966 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.03920316696167, + "objectType": "Television", + "objectId": "Television|-01.86|+01.20|+02.70", + "assetId": "Television_23", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.359736442565918, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.594604730606079 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.594604730606079 + ] + ], + "center": { + "x": -1.8597421646118164, + "y": 1.1164844036102295, + "z": 2.7694149017333984 + }, + "size": { + "x": 1.0000114440917969, + "y": 0.8063507080078125, + "z": 0.34962034225463867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.359734058380127, + 0.7141113877296448, + 2.589648723602295 + ], + [ + -1.3597339391708374, + 0.7141237854957581, + 2.5896799564361572 + ], + [ + -1.359744906425476, + 0.7083142399787903, + 2.9438905715942383 + ], + [ + -2.3597450256347656, + 0.708301842212677, + 2.943859577178955 + ], + [ + -2.3597443103790283, + 1.5198802947998047, + 2.6028645038604736 + ], + [ + -1.3597443103790283, + 1.519892692565918, + 2.602895736694336 + ], + [ + -1.359755277633667, + 1.5140831470489502, + 2.957106351852417 + ], + [ + -2.359755277633667, + 1.514070749282837, + 2.9570751190185547 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -1.5, + "y": 0.9009991884231567, + "z": 0.699999988079071 + }, + "agent_rotation": { + "x": -0.0, + "y": 305.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.5, + "y": 1.5759992599487305, + "z": 0.699999988079071 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Sofa|-03.42|+00.01|-00.04", + "Statue|-03.59|+00.60|+01.43", + "SideTable|-03.60|+00.00|+01.44", + "LightSwitch|-03.90|+01.28|+01.68" + ], + "different_object": [ + "RemoteControl|-02.29|+00.71|+02.75", + "Statue|-02.04|+00.24|+02.75", + "Television|-01.86|+01.20|+02.70", + "DiningTable|-01.86|+00.23|+02.79", + "TVStand|-01.86|+00.00|+02.79" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/17/0_depth_npy.npy b/train/FloorPlan223_physics/17/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..1ef31694bd1b87a4455b04b476c1e3aebeff3bac --- /dev/null +++ b/train/FloorPlan223_physics/17/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30461d184f1f01edbfd6f2c3d5cb832b375315fbaa5dd36eb4ecaa6cc58ae5a4 +size 3145856 diff --git a/train/FloorPlan223_physics/17/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/17/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..202c8ba196b17924ceaf1e8a90782e13c0cebb40 --- /dev/null +++ b/train/FloorPlan223_physics/17/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b156fa5f8b8caedd62a7e9d530d57e5c699650a223517553264b1247b51be34 +size 2359424 diff --git a/train/FloorPlan223_physics/17/1.json b/train/FloorPlan223_physics/17/1.json new file mode 100644 index 0000000000000000000000000000000000000000..177d41f8e8aba13698a0e8c49150d7f2e544f987 --- /dev/null +++ b/train/FloorPlan223_physics/17/1.json @@ -0,0 +1,3671 @@ +{ + "object": [ + { + "objectId": "WateringCan|-03.25|00.00|-01.86", + "object_info": { + "name": "WateringCan_31a595df", + "position": { + "x": -3.2522449493408203, + "y": -0.0008590668439865112, + "z": -1.8618444204330444 + }, + "rotation": { + "x": -0.0003620765928644687, + "y": -0.000614947231952101, + "z": 0.0007242992869578302 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.4430603981018066, + "objectType": "WateringCan", + "objectId": "WateringCan|-03.25|00.00|-01.86", + "assetId": "Watering_Can_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.176553726196289, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.9819858074188232 + ] + ], + "center": { + "x": -3.2522456645965576, + "y": 0.09692596644163132, + "z": -1.8485687971115112 + }, + "size": { + "x": 0.1513838768005371, + "y": 0.19385077059268951, + "z": 0.266834020614624 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1765549182891846, + 5.470355972647667e-07, + -1.715149998664856 + ], + [ + -3.3279380798339844, + -6.129266694188118e-07, + -1.7151516675949097 + ], + [ + -3.327935218811035, + -1.2035015970468521e-06, + -1.9819879531860352 + ], + [ + -3.1765518188476562, + -4.353933036327362e-08, + -1.9819862842559814 + ], + [ + -3.176556348800659, + 0.19385217130184174, + -1.7151503562927246 + ], + [ + -3.327939510345459, + 0.19385100901126862, + -1.7151521444320679 + ], + [ + -3.3279366493225098, + 0.19385041296482086, + -1.9819884300231934 + ], + [ + -3.17655348777771, + 0.19385157525539398, + -1.9819867610931396 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "object_info": { + "name": "GarbageCan_cf69fd43", + "position": { + "x": 0.29969024658203125, + "y": 7.18235969543457e-06, + "z": 1.2532256841659546 + }, + "rotation": { + "x": 0.0006593925645574927, + "y": 2.2150020599365234, + "z": -0.002282413886860013 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7383514642715454, + "objectType": "GarbageCan", + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4879261255264282, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.0650081634521484 + ] + ], + "center": { + "x": 0.2996993362903595, + "y": 0.32798317074775696, + "z": 1.2532281875610352 + }, + "size": { + "x": 0.37645357847213745, + "y": 0.6559673547744751, + "z": 0.37644004821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.49219784140586853, + -3.6668598113465123e-07, + 1.4313961267471313 + ], + [ + 0.12151965498924255, + 9.915489499690011e-06, + 1.4457334280014038 + ], + [ + 0.10718235373497009, + 1.3122078598826192e-05, + 1.0750552415847778 + ], + [ + 0.47786054015159607, + 2.839903572748881e-06, + 1.0607179403305054 + ], + [ + 0.49221622943878174, + 0.6559540033340454, + 1.431401014328003 + ], + [ + 0.12153804302215576, + 0.6559642553329468, + 1.4457383155822754 + ], + [ + 0.1072007417678833, + 0.6559674739837646, + 1.0750601291656494 + ], + [ + 0.4778789281845093, + 0.6559572219848633, + 1.060722827911377 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "object_info": { + "name": "LightSwitch_477ce142", + "position": { + "x": -3.9000000953674316, + "y": 1.284000039100647, + "z": 1.684000015258789 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.813469171524048, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.8669681549072266, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.64006507396698 + ] + ], + "center": { + "x": -3.883484125137329, + "y": 1.2851357460021973, + "z": 1.684000015258789 + }, + "size": { + "x": 0.03303194046020508, + "y": 0.1647193431854248, + "z": 0.08786988258361816 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|+01.44", + "object_info": { + "name": "SideTable_ef1b602c", + "position": { + "x": -3.5979855060577393, + "y": 0.004337579011917114, + "z": 1.4379733800888062 + }, + "rotation": { + "x": 359.8045959472656, + "y": -0.00013349241635296494, + "z": 359.9132080078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|-03.59|+00.60|+01.43" + ], + "distance": 3.5311872959136963, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|+01.44", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.4255571365356445, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.260542392730713 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.260542392730713 + ] + ], + "center": { + "x": -3.5956337451934814, + "y": 0.3019368052482605, + "z": 1.4354181289672852 + }, + "size": { + "x": 0.34015321731567383, + "y": 0.6039015054702759, + "z": 0.34975147247314453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425769567489624, + -0.000412600114941597, + 1.610532522201538 + ], + [ + -3.765719413757324, + 0.00010331394150853157, + 1.6105319261550903 + ], + [ + -3.7657206058502197, + -0.0010759038850665092, + 1.260555386543274 + ], + [ + -3.4257707595825195, + -0.0015918179415166378, + 1.2605559825897217 + ], + [ + -3.4248530864715576, + 0.6035022735595703, + 1.6084977388381958 + ], + [ + -3.764802932739258, + 0.6040182113647461, + 1.608497142791748 + ], + [ + -3.7648041248321533, + 0.6028389930725098, + 1.258520483970642 + ], + [ + -3.424854278564453, + 0.602323055267334, + 1.2585210800170898 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "Statue|-03.59|+00.60|+01.43", + "object_info": { + "name": "Statue_b51b8ac3", + "position": { + "x": -3.591968536376953, + "y": 0.6028220653533936, + "z": 1.4310815334320068 + }, + "rotation": { + "x": 0.07878818362951279, + "y": 90.00411224365234, + "z": 359.8116455078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.4201130867004395, + "objectType": "Statue", + "objectId": "Statue|-03.59|+00.60|+01.43", + "assetId": "Towel_Statue_1", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|+01.44" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.5098624229431152, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.3489149808883667 + ] + ], + "center": { + "x": -3.5919289588928223, + "y": 0.8084835410118103, + "z": 1.4310238361358643 + }, + "size": { + "x": 0.16413307189941406, + "y": 0.4112800359725952, + "z": 0.16421771049499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.5099401473999023, + 0.6027724146842957, + 1.3490607738494873 + ], + [ + -3.5099236965179443, + 0.603306770324707, + 1.5131219625473022 + ], + [ + -3.673985004425049, + 0.6035440564155579, + 1.513137698173523 + ], + [ + -3.674001455307007, + 0.6030097007751465, + 1.349076509475708 + ], + [ + -3.509345769882202, + 1.0137324333190918, + 1.3477221727371216 + ], + [ + -3.509329319000244, + 1.014266848564148, + 1.5117833614349365 + ], + [ + -3.6733906269073486, + 1.0145041942596436, + 1.5117990970611572 + ], + [ + -3.6734070777893066, + 1.0139697790145874, + 1.3477379083633423 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|-01.61", + "object_info": { + "name": "SideTable_32f926b8", + "position": { + "x": -3.597963809967041, + "y": 0.004360944032669067, + "z": -1.6070078611373901 + }, + "rotation": { + "x": 0.003428330644965172, + "y": 0.002825607778504491, + "z": 359.70733642578125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|-03.58|+00.60|-01.62" + ], + "distance": 3.6033060550689697, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|-01.61", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.425083637237549, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.425083637237549, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.7844332456588745 + ] + ], + "center": { + "x": -3.5953938961029053, + "y": 0.3019649386405945, + "z": -1.6094589233398438 + }, + "size": { + "x": 0.3406205177307129, + "y": 0.6039294004440308, + "z": 0.3499486446380615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425757646560669, + -0.0015295855700969696, + -1.434476375579834 + ], + [ + -3.7657032012939453, + 0.0001298254355788231, + -1.4344571828842163 + ], + [ + -3.76572322845459, + 6.832834333181381e-05, + -1.7844345569610596 + ], + [ + -3.4257779121398926, + -0.0015910826623439789, + -1.7844538688659668 + ], + [ + -3.4228098392486572, + 0.6023802757263184, + -1.4345827102661133 + ], + [ + -3.7627553939819336, + 0.6040396690368652, + -1.4345635175704956 + ], + [ + -3.762775421142578, + 0.603978157043457, + -1.7845408916473389 + ], + [ + -3.4228298664093018, + 0.6023187637329102, + -1.7845600843429565 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.4000000953674316, + "y": 0.9009991884231567, + "z": -1.100000023841858 + }, + "agent_rotation": { + "x": -0.0, + "y": 293.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.4000000953674316, + "y": 1.5759992599487305, + "z": -1.100000023841858 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Sofa|-03.42|+00.01|-00.04", + "Statue|-03.59|+00.60|+01.43", + "SideTable|-03.60|+00.00|+01.44", + "LightSwitch|-03.90|+01.28|+01.68" + ], + "different_object": [ + "Chair|+02.22|00.00|+00.15", + "Vase|+01.57|+00.78|-00.31", + "Vase|+01.84|+00.78|-00.30", + "Pillow|-01.93|+00.37|-01.49", + "Chair|+01.46|00.00|+00.20", + "Window|+01.48|+01.51|-01.93", + "HousePlant|-03.58|+00.60|-01.62", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.64|00.00|-00.85", + "ArmChair|-02.01|+00.01|-01.58", + "DiningTable|+01.88|+00.00|-00.29", + "Window|-02.00|+01.51|-01.93", + "ArmChair|-00.43|+00.01|+01.06", + "WateringCan|-03.25|00.00|-01.86", + "GarbageCan|+00.30|+00.00|+01.25", + "Plate|+01.36|+00.78|-00.62", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "SideTable|-03.60|+00.00|-01.61", + "Box|+01.27|+00.15|-00.29" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/17/1_depth_npy.npy b/train/FloorPlan223_physics/17/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..86355f643e695fd8a14974ed5bef7f8f707e6fba --- /dev/null +++ b/train/FloorPlan223_physics/17/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a6b818c18e770ccce875557dcbd2cd49e419f61f5fee68b360c7bc171a9d958 +size 3145856 diff --git a/train/FloorPlan223_physics/17/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/17/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f47e3750f6ec3498a3a7ee9c80f046541f6312fa --- /dev/null +++ b/train/FloorPlan223_physics/17/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aab00016797a775d0406970fc9287bbc97066ed304da3984c38ecfa72f4d04de +size 2359424 diff --git a/train/FloorPlan223_physics/17/depth_0.png b/train/FloorPlan223_physics/17/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..23b37d5d4fbb97a2fad7c194f686026d0f583332 Binary files /dev/null and b/train/FloorPlan223_physics/17/depth_0.png differ diff --git a/train/FloorPlan223_physics/17/depth_1.png b/train/FloorPlan223_physics/17/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d1a7dd2fe06244ae3be014952d7f634439506f69 Binary files /dev/null and b/train/FloorPlan223_physics/17/depth_1.png differ diff --git a/train/FloorPlan223_physics/17/mask_questions.jsonl b/train/FloorPlan223_physics/17/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/FloorPlan223_physics/17/questions_distance.jsonl b/train/FloorPlan223_physics/17/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93e0b6e8f943ba13b117657abce560fba1047732 --- /dev/null +++ b/train/FloorPlan223_physics/17/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 6021, "folder_dir": "FloorPlan223_physics/17", "query": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CoffeeTable\nB. Laptop\nC. HousePlant\nD. Other\n", "answer": "B", "src_object": "Sofa", "target_object": "Laptop", "question": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "CoffeeTable", "semantic_id": "CoffeeTable|-02.02|+00.01|+00.02", "distance": 1.4598880785936588, "com": {"x": -2.0229990482330322, "y": 0.2217133343219757, "z": 0.017372846603393555}}, {"text": "Laptop", "semantic_id": "Laptop|-02.02|+00.45|-00.12", "distance": 1.4091148683934644, "com": {"x": -2.011923313140869, "y": 0.6075440645217896, "z": -0.1197483092546463}}, {"text": "HousePlant", "semantic_id": "HousePlant|-03.58|+00.60|-01.62", "distance": 1.5846055507581764, "com": {"x": -3.6157047748565674, "y": 0.9319713711738586, "z": -1.5891475677490234}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/17/rgb_0.png", "image_2": "FloorPlan223_physics/17/rgb_1.png"} diff --git a/train/FloorPlan223_physics/17/rgb_0.png b/train/FloorPlan223_physics/17/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..d49cb0f8e5b5f3fe26165d1e04c90fdbf284a628 --- /dev/null +++ b/train/FloorPlan223_physics/17/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26a5c342d4668dd2782ac740a3a7857815fa1332e5b7eb50c12b6084cd2662c7 +size 684238 diff --git a/train/FloorPlan223_physics/17/rgb_1.png b/train/FloorPlan223_physics/17/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..33660a577e282ba26ec779e653f51bad9f922d99 --- /dev/null +++ b/train/FloorPlan223_physics/17/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad97617d3c77a2bfc8b3fbe3e874734ee21e86431e586b0e697a18a8764893e6 +size 841029 diff --git a/train/FloorPlan223_physics/17/semantic_0.png b/train/FloorPlan223_physics/17/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..630910343943f68183320f3d06851c7b1db3adcd Binary files /dev/null and b/train/FloorPlan223_physics/17/semantic_0.png differ diff --git a/train/FloorPlan223_physics/17/semantic_1.png b/train/FloorPlan223_physics/17/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..297cde3fce76c07b4f86e810b1fdf1392f8e6f83 Binary files /dev/null and b/train/FloorPlan223_physics/17/semantic_1.png differ diff --git a/train/FloorPlan223_physics/20/0.json b/train/FloorPlan223_physics/20/0.json new file mode 100644 index 0000000000000000000000000000000000000000..555461ed264774ff58d154c279650fc93518364c --- /dev/null +++ b/train/FloorPlan223_physics/20/0.json @@ -0,0 +1,3105 @@ +{ + "object": [ + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "object_info": { + "name": "FloorLamp_3964945b", + "position": { + "x": -0.33106115460395813, + "y": 0.0020943880081176758, + "z": 2.728121280670166 + }, + "rotation": { + "x": 0.028233468532562256, + "y": 359.9642333984375, + "z": 0.0124844741076231 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.8773627281188965, + "objectType": "FloorLamp", + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "assetId": "Floor_Lamp_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07376223802566528, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.470034599304199 + ] + ], + "center": { + "x": -0.33205798268318176, + "y": 0.9319358468055725, + "z": 2.7284581661224365 + }, + "size": { + "x": 0.516591489315033, + "y": 1.8638250827789307, + "z": 0.5168471336364746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.07385668158531189, + 4.743225872516632e-05, + 2.9870007038116455 + ], + [ + -0.5905872583389282, + -2.8995331376791e-05, + 2.986692190170288 + ], + [ + -0.5902788639068604, + 0.00010942760854959488, + 2.4699525833129883 + ], + [ + -0.0735483169555664, + 0.00018585508223623037, + 2.4702610969543457 + ], + [ + -0.07413265109062195, + 1.8638358116149902, + 2.987499713897705 + ], + [ + -0.5908632278442383, + 1.8637592792510986, + 2.9871912002563477 + ], + [ + -0.5905548334121704, + 1.8638978004455566, + 2.470451593399048 + ], + [ + -0.07382425665855408, + 1.8639740943908691, + 2.4707601070404053 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "Window|+03.48|+01.51|-01.93", + "object_info": { + "name": "Window_dea94267", + "position": { + "x": 3.4800000190734863, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.463291168212891, + "objectType": "Window", + "objectId": "Window|+03.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.960000514984131, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.960000514984131, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -2.0399999618530273 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -2.0399999618530273 + ] + ], + "center": { + "x": 3.5, + "y": 1.0739160776138306, + "z": -1.9994010925292969 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.147834062576294, + "z": 0.08119773864746094 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "object_info": { + "name": "ArmChair_4b8c6e75", + "position": { + "x": -0.43700525164604187, + "y": 0.005729973316192627, + "z": 1.9230469465255737 + }, + "rotation": { + "x": 4.141504905419424e-05, + "y": 270.00018310546875, + "z": -0.0001669862394919619 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1221652030944824, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04723113775253296, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.04723113775253296, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 1.5481648445129395 + ] + ], + "center": { + "x": -0.43125927448272705, + "y": 0.3626064956188202, + "z": 1.9265482425689697 + }, + "size": { + "x": 0.7680562734603882, + "y": 0.7252018451690674, + "z": 0.7567667961120605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8153156042098999, + 1.087365671992302e-05, + 2.3049323558807373 + ], + [ + -0.8153178691864014, + 1.3908371329307556e-05, + 1.5481648445129395 + ], + [ + -0.04725685715675354, + 1.4075078070163727e-05, + 1.548162579536438 + ], + [ + -0.04725465178489685, + 1.104036346077919e-05, + 2.3049302101135254 + ], + [ + -0.8153157830238342, + 0.7252148985862732, + 2.3049352169036865 + ], + [ + -0.8153179883956909, + 0.7252179384231567, + 1.5481677055358887 + ], + [ + -0.04725700616836548, + 0.7252180576324463, + 1.5481654405593872 + ], + [ + -0.04725480079650879, + 0.7252150177955627, + 2.3049330711364746 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "Painting|-00.06|+01.60|+01.73", + "object_info": { + "name": "Painting_9a6f96ff", + "position": { + "x": -0.0560000017285347, + "y": 1.6019999980926514, + "z": 1.7330000400543213 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9214128255844116, + "objectType": "Painting", + "objectId": "Painting|-00.06|+01.60|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.02334464341402054, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 2.0239996910095215, + 1.168489694595337 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 1.168489694595337 + ] + ], + "center": { + "x": -0.02120792120695114, + "y": 1.598686695098877, + "z": 1.7579162120819092 + }, + "size": { + "x": 0.08910512924194336, + "y": 0.8506259918212891, + "z": 1.1788530349731445 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|+04.14|+01.59|-00.30", + "object_info": { + "name": "Painting_984aa9d5", + "position": { + "x": 4.136000156402588, + "y": 1.590999960899353, + "z": -0.296999990940094 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.696467399597168, + "objectType": "Painting", + "objectId": "Painting|+04.14|+01.59|-00.30", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.215344429016113, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.215344429016113, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 1.1690006256103516, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 1.1690006256103516, + -0.8613617420196533 + ] + ], + "center": { + "x": 4.170792102813721, + "y": 1.5914161205291748, + "z": -0.27200978994369507 + }, + "size": { + "x": 0.08910465240478516, + "y": 0.8448309898376465, + "z": 1.1787039041519165 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.700000047683716, + "y": 0.9009991884231567, + "z": 0.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 103.99999237060547, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.700000047683716, + "y": 1.5759992599487305, + "z": 0.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "ArmChair|-00.44|+00.01|+01.92", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "DiningTable|+01.88|+00.00|-00.29", + "Chair|+01.46|00.00|+00.20", + "ArmChair|-00.43|+00.01|+01.06" + ], + "different_object": [ + "Chair|+02.22|00.00|+00.15", + "Vase|+01.57|+00.78|-00.31", + "Window|-02.00|+01.51|-01.93", + "Vase|+01.84|+00.78|-00.30", + "Painting|-00.06|+01.60|+01.73", + "Chair|+01.64|00.00|-00.85", + "Pillow|-01.93|+00.37|-01.49", + "ArmChair|-02.01|+00.01|-01.58", + "Plate|+01.36|+00.78|-00.62", + "Window|+03.48|+01.51|-01.93", + "Box|+01.27|+00.15|-00.29", + "Painting|+04.14|+01.59|-00.30", + "FloorLamp|-00.33|+00.00|+02.73", + "Window|+01.48|+01.51|-01.93", + "Chair|+02.29|00.00|-00.78" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/20/0_depth_npy.npy b/train/FloorPlan223_physics/20/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5cf3ce7ca0d68acf5973996915b294aaaa1b1d8d --- /dev/null +++ b/train/FloorPlan223_physics/20/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d648dae8b1740d9286c021c1edfc8d2edccb3f8d8e34899b6d82ec8226c8aad3 +size 3145856 diff --git a/train/FloorPlan223_physics/20/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/20/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..47a8ffa5c234db1b9892ba1b45cf602171b99cfc --- /dev/null +++ b/train/FloorPlan223_physics/20/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfc0ca9efceeff12a4a20556f9ff25eb6472b147db62d77ba1c967d2bca87502 +size 2359424 diff --git a/train/FloorPlan223_physics/20/1.json b/train/FloorPlan223_physics/20/1.json new file mode 100644 index 0000000000000000000000000000000000000000..42dfd898d347feac1f67bfcb3c4daad2b09f6904 --- /dev/null +++ b/train/FloorPlan223_physics/20/1.json @@ -0,0 +1,2622 @@ +{ + "object": [ + { + "objectId": "Statue|-02.04|+00.24|+02.75", + "object_info": { + "name": "Statue_2147f514", + "position": { + "x": -2.0441362857818604, + "y": 0.2397981435060501, + "z": 2.7487399578094482 + }, + "rotation": { + "x": 0.5867406129837036, + "y": 359.98504638671875, + "z": 0.9680944681167603 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Stone" + ], + "receptacleObjectIds": null, + "distance": 3.221353054046631, + "objectType": "Statue", + "objectId": "Statue|-02.04|+00.24|+02.75", + "assetId": "Dog_Statue_4", + "parentReceptacles": [ + "DiningTable|-01.86|+00.23|+02.79", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.9340085983276367, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.7116007804870605 + ] + ], + "center": { + "x": -2.067904472351074, + "y": 0.33797669410705566, + "z": 2.777303695678711 + }, + "size": { + "x": 0.267791748046875, + "y": 0.20818185806274414, + "z": 0.13140583038330078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.932020902633667, + 0.23496071994304657, + 2.8412842750549316 + ], + [ + -2.2012362480163574, + 0.23041173815727234, + 2.841167449951172 + ], + [ + -2.201202392578125, + 0.2317402958869934, + 2.711437225341797 + ], + [ + -1.9319870471954346, + 0.23628926277160645, + 2.7115540504455566 + ], + [ + -1.9355692863464355, + 0.44490715861320496, + 2.843433380126953 + ], + [ + -2.204784631729126, + 0.44035816192626953, + 2.8433165550231934 + ], + [ + -2.2047507762908936, + 0.4416867196559906, + 2.7135863304138184 + ], + [ + -1.9355354309082031, + 0.446235716342926, + 2.713703155517578 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Candle|-01.54|+00.23|+02.74", + "object_info": { + "name": "Candle_f40c2f5f", + "position": { + "x": -1.536789894104004, + "y": 0.2342444658279419, + "z": 2.7418534755706787 + }, + "rotation": { + "x": 0.09415348619222641, + "y": 359.6438903808594, + "z": 0.19696395099163055 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Wax" + ], + "receptacleObjectIds": null, + "distance": 3.0062029361724854, + "objectType": "Candle", + "objectId": "Candle|-01.54|+00.23|+02.74", + "assetId": "Candle_6", + "parentReceptacles": [ + "DiningTable|-01.86|+00.23|+02.79", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5155794620513916, + 0.40167558193206787, + 2.7630717754364014 + ], + [ + -1.5155794620513916, + 0.40167558193206787, + 2.7206437587738037 + ], + [ + -1.5155794620513916, + 0.23379802703857422, + 2.7630717754364014 + ], + [ + -1.5155794620513916, + 0.23379802703857422, + 2.7206437587738037 + ], + [ + -1.5580174922943115, + 0.40167558193206787, + 2.7630717754364014 + ], + [ + -1.5580174922943115, + 0.40167558193206787, + 2.7206437587738037 + ], + [ + -1.5580174922943115, + 0.23379802703857422, + 2.7630717754364014 + ], + [ + -1.5580174922943115, + 0.23379802703857422, + 2.7206437587738037 + ] + ], + "center": { + "x": -1.5367984771728516, + "y": 0.31773680448532104, + "z": 2.7418577671051025 + }, + "size": { + "x": 0.04243803024291992, + "y": 0.16787755489349365, + "z": 0.042428016662597656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.515762448310852, + 0.2339225858449936, + 2.7631423473358154 + ], + [ + -1.5580779314041138, + 0.23377712070941925, + 2.7628791332244873 + ], + [ + -1.5578149557113647, + 0.23384664952754974, + 2.7205634117126465 + ], + [ + -1.5154993534088135, + 0.23399212956428528, + 2.7208266258239746 + ], + [ + -1.516340970993042, + 0.401713490486145, + 2.7634143829345703 + ], + [ + -1.5586564540863037, + 0.4015679955482483, + 2.763151168823242 + ], + [ + -1.5583934783935547, + 0.40163755416870117, + 2.7208356857299805 + ], + [ + -1.5160778760910034, + 0.4017830193042755, + 2.7210988998413086 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "object_info": { + "name": "GarbageCan_cf69fd43", + "position": { + "x": 0.29969024658203125, + "y": 7.18235969543457e-06, + "z": 1.2532256841659546 + }, + "rotation": { + "x": 0.0006593925645574927, + "y": 2.2150020599365234, + "z": -0.002282413886860013 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7383514642715454, + "objectType": "GarbageCan", + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4879261255264282, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.0650081634521484 + ] + ], + "center": { + "x": 0.2996993362903595, + "y": 0.32798317074775696, + "z": 1.2532281875610352 + }, + "size": { + "x": 0.37645357847213745, + "y": 0.6559673547744751, + "z": 0.37644004821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.49219784140586853, + -3.6668598113465123e-07, + 1.4313961267471313 + ], + [ + 0.12151965498924255, + 9.915489499690011e-06, + 1.4457334280014038 + ], + [ + 0.10718235373497009, + 1.3122078598826192e-05, + 1.0750552415847778 + ], + [ + 0.47786054015159607, + 2.839903572748881e-06, + 1.0607179403305054 + ], + [ + 0.49221622943878174, + 0.6559540033340454, + 1.431401014328003 + ], + [ + 0.12153804302215576, + 0.6559642553329468, + 1.4457383155822754 + ], + [ + 0.1072007417678833, + 0.6559674739837646, + 1.0750601291656494 + ], + [ + 0.4778789281845093, + 0.6559572219848633, + 1.060722827911377 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "object_info": { + "name": "DiningTable_42373f1f", + "position": { + "x": -1.8579727411270142, + "y": 0.2316993921995163, + "z": 2.7878525257110596 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75" + ], + "distance": 3.172408103942871, + "objectType": "DiningTable", + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.353766918182373, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.6145288944244385 + ] + ], + "center": { + "x": -1.8579730987548828, + "y": 0.27928826212882996, + "z": 2.787849187850952 + }, + "size": { + "x": 1.0084123611450195, + "y": 0.09547990560531616, + "z": 0.34664058685302734 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "object_info": { + "name": "RemoteControl_09703e97", + "position": { + "x": -2.2912778854370117, + "y": 0.7151373624801636, + "z": 2.7494349479675293 + }, + "rotation": { + "x": 359.9211120605469, + "y": 0.35118886828422546, + "z": 359.98101806640625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.2867329120635986, + "objectType": "RemoteControl", + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "assetId": "Remote_3", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.256807565689087, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.6374101638793945 + ] + ], + "center": { + "x": -2.290771484375, + "y": 0.7245430946350098, + "z": 2.7473092079162598 + }, + "size": { + "x": 0.06792783737182617, + "y": 0.02184438705444336, + "z": 0.21979808807373047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.256814479827881, + 0.7139212489128113, + 2.8567938804626465 + ], + [ + -2.3244235515594482, + 0.713943600654602, + 2.857208251953125 + ], + [ + -2.325768232345581, + 0.7136415839195251, + 2.6378211975097656 + ], + [ + -2.2581591606140137, + 0.7136191725730896, + 2.637406826019287 + ], + [ + -2.256807565689087, + 0.7354427576065063, + 2.856764078140259 + ], + [ + -2.3244166374206543, + 0.7354651689529419, + 2.8571784496307373 + ], + [ + -2.325761318206787, + 0.735163152217865, + 2.637791633605957 + ], + [ + -2.2581522464752197, + 0.7351407408714294, + 2.6373772621154785 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "object_info": { + "name": "LightSwitch_477ce142", + "position": { + "x": -3.9000000953674316, + "y": 1.284000039100647, + "z": 1.684000015258789 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.813469171524048, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.8669681549072266, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.64006507396698 + ] + ], + "center": { + "x": -3.883484125137329, + "y": 1.2851357460021973, + "z": 1.684000015258789 + }, + "size": { + "x": 0.03303194046020508, + "y": 0.1647193431854248, + "z": 0.08786988258361816 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|+01.44", + "object_info": { + "name": "SideTable_ef1b602c", + "position": { + "x": -3.5979855060577393, + "y": 0.004337579011917114, + "z": 1.4379733800888062 + }, + "rotation": { + "x": 359.8045959472656, + "y": -0.00013349241635296494, + "z": 359.9132080078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|-03.59|+00.60|+01.43" + ], + "distance": 3.5311872959136963, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|+01.44", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.4255571365356445, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.260542392730713 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.260542392730713 + ] + ], + "center": { + "x": -3.5956337451934814, + "y": 0.3019368052482605, + "z": 1.4354181289672852 + }, + "size": { + "x": 0.34015321731567383, + "y": 0.6039015054702759, + "z": 0.34975147247314453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425769567489624, + -0.000412600114941597, + 1.610532522201538 + ], + [ + -3.765719413757324, + 0.00010331394150853157, + 1.6105319261550903 + ], + [ + -3.7657206058502197, + -0.0010759038850665092, + 1.260555386543274 + ], + [ + -3.4257707595825195, + -0.0015918179415166378, + 1.2605559825897217 + ], + [ + -3.4248530864715576, + 0.6035022735595703, + 1.6084977388381958 + ], + [ + -3.764802932739258, + 0.6040182113647461, + 1.608497142791748 + ], + [ + -3.7648041248321533, + 0.6028389930725098, + 1.258520483970642 + ], + [ + -3.424854278564453, + 0.602323055267334, + 1.2585210800170898 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Statue|-03.59|+00.60|+01.43", + "object_info": { + "name": "Statue_b51b8ac3", + "position": { + "x": -3.591968536376953, + "y": 0.6028220653533936, + "z": 1.4310815334320068 + }, + "rotation": { + "x": 0.07878818362951279, + "y": 90.00411224365234, + "z": 359.8116455078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.4201130867004395, + "objectType": "Statue", + "objectId": "Statue|-03.59|+00.60|+01.43", + "assetId": "Towel_Statue_1", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|+01.44" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.5098624229431152, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.3489149808883667 + ] + ], + "center": { + "x": -3.5919289588928223, + "y": 0.8084835410118103, + "z": 1.4310238361358643 + }, + "size": { + "x": 0.16413307189941406, + "y": 0.4112800359725952, + "z": 0.16421771049499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.5099401473999023, + 0.6027724146842957, + 1.3490607738494873 + ], + [ + -3.5099236965179443, + 0.603306770324707, + 1.5131219625473022 + ], + [ + -3.673985004425049, + 0.6035440564155579, + 1.513137698173523 + ], + [ + -3.674001455307007, + 0.6030097007751465, + 1.349076509475708 + ], + [ + -3.509345769882202, + 1.0137324333190918, + 1.3477221727371216 + ], + [ + -3.509329319000244, + 1.014266848564148, + 1.5117833614349365 + ], + [ + -3.6733906269073486, + 1.0145041942596436, + 1.5117990970611572 + ], + [ + -3.6734070777893066, + 1.0139697790145874, + 1.3477379083633423 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "object_info": { + "name": "ArmChair_4b8c6e75", + "position": { + "x": -0.43700525164604187, + "y": 0.005729973316192627, + "z": 1.9230469465255737 + }, + "rotation": { + "x": 4.141504905419424e-05, + "y": 270.00018310546875, + "z": -0.0001669862394919619 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1221652030944824, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04723113775253296, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.04723113775253296, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 1.5481648445129395 + ] + ], + "center": { + "x": -0.43125927448272705, + "y": 0.3626064956188202, + "z": 1.9265482425689697 + }, + "size": { + "x": 0.7680562734603882, + "y": 0.7252018451690674, + "z": 0.7567667961120605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8153156042098999, + 1.087365671992302e-05, + 2.3049323558807373 + ], + [ + -0.8153178691864014, + 1.3908371329307556e-05, + 1.5481648445129395 + ], + [ + -0.04725685715675354, + 1.4075078070163727e-05, + 1.548162579536438 + ], + [ + -0.04725465178489685, + 1.104036346077919e-05, + 2.3049302101135254 + ], + [ + -0.8153157830238342, + 0.7252148985862732, + 2.3049352169036865 + ], + [ + -0.8153179883956909, + 0.7252179384231567, + 1.5481677055358887 + ], + [ + -0.04725700616836548, + 0.7252180576324463, + 1.5481654405593872 + ], + [ + -0.04725480079650879, + 0.7252150177955627, + 2.3049330711364746 + ] + ] + } + } + }, + { + "objectId": "TVStand|-01.86|+00.00|+02.79", + "object_info": { + "name": "TVStand_3ce96f2f", + "position": { + "x": -1.8579983711242676, + "y": 0.00039079785346984863, + "z": 2.787977933883667 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Television|-01.86|+01.20|+02.70", + "RemoteControl|-02.29|+00.71|+02.75" + ], + "distance": 3.2292532920837402, + "objectType": "TVStand", + "objectId": "TVStand|-01.86|+00.00|+02.79", + "assetId": "TV_Stand_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3527679443359375, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -1.3527679443359375, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.6121463775634766 + ] + ], + "center": { + "x": -1.8609373569488525, + "y": 0.35679537057876587, + "z": 2.7879385948181152 + }, + "size": { + "x": 1.01633882522583, + "y": 0.7136019468307495, + "z": 0.35158443450927734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.3528119325637817, + 2.9323389753699303e-05, + 2.963749408721924 + ], + [ + -2.3691158294677734, + 7.576588541269302e-05, + 2.9637136459350586 + ], + [ + -2.36910343170166, + 3.9373175241053104e-05, + 2.61221981048584 + ], + [ + -1.352799654006958, + -7.069320417940617e-06, + 2.612255334854126 + ], + [ + -1.3527793884277344, + 0.7135501503944397, + 2.9636754989624023 + ], + [ + -2.3690831661224365, + 0.7135965824127197, + 2.963639736175537 + ], + [ + -2.3690710067749023, + 0.7135602235794067, + 2.6121459007263184 + ], + [ + -1.352766990661621, + 0.7135137915611267, + 2.6121814250946045 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "Television|-01.86|+01.20|+02.70", + "object_info": { + "name": "Television_430e1f04", + "position": { + "x": -1.8597434759140015, + "y": 1.200732946395874, + "z": 2.7014834880828857 + }, + "rotation": { + "x": 359.06036376953125, + "y": 179.99822998046875, + "z": -0.0007116764318197966 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.03920316696167, + "objectType": "Television", + "objectId": "Television|-01.86|+01.20|+02.70", + "assetId": "Television_23", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.359736442565918, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.594604730606079 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.594604730606079 + ] + ], + "center": { + "x": -1.8597421646118164, + "y": 1.1164844036102295, + "z": 2.7694149017333984 + }, + "size": { + "x": 1.0000114440917969, + "y": 0.8063507080078125, + "z": 0.34962034225463867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.359734058380127, + 0.7141113877296448, + 2.589648723602295 + ], + [ + -1.3597339391708374, + 0.7141237854957581, + 2.5896799564361572 + ], + [ + -1.359744906425476, + 0.7083142399787903, + 2.9438905715942383 + ], + [ + -2.3597450256347656, + 0.708301842212677, + 2.943859577178955 + ], + [ + -2.3597443103790283, + 1.5198802947998047, + 2.6028645038604736 + ], + [ + -1.3597443103790283, + 1.519892692565918, + 2.602895736694336 + ], + [ + -1.359755277633667, + 1.5140831470489502, + 2.957106351852417 + ], + [ + -2.359755277633667, + 1.514070749282837, + 2.9570751190185547 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 0.8000000715255737, + "y": 0.9009991884231567, + "z": -1.399999976158142 + }, + "agent_rotation": { + "x": -0.0, + "y": 328.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 0.8000000715255737, + "y": 1.5759992599487305, + "z": -1.399999976158142 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "ArmChair|-00.44|+00.01|+01.92", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "DiningTable|+01.88|+00.00|-00.29", + "Chair|+01.46|00.00|+00.20", + "ArmChair|-00.43|+00.01|+01.06" + ], + "different_object": [ + "Sofa|-03.42|+00.01|-00.04", + "SideTable|-03.60|+00.00|+01.44", + "LightSwitch|-03.90|+01.28|+01.68", + "GarbageCan|+00.30|+00.00|+01.25", + "RemoteControl|-02.29|+00.71|+02.75", + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75", + "Television|-01.86|+01.20|+02.70", + "DiningTable|-01.86|+00.23|+02.79", + "TVStand|-01.86|+00.00|+02.79", + "Statue|-03.59|+00.60|+01.43" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/20/1_depth_npy.npy b/train/FloorPlan223_physics/20/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c8142657345bb738eb4937029668a09b6556a14b --- /dev/null +++ b/train/FloorPlan223_physics/20/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d39ac5d3b7fb1121614a28ce45de3a91f44cc31daf6606ebe3b666cee34d54a +size 3145856 diff --git a/train/FloorPlan223_physics/20/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/20/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..cbb3440795324a96c6715a94f1b3657c3ad6354f --- /dev/null +++ b/train/FloorPlan223_physics/20/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dffca4eb18ce77d94645cf3e75aeb5beb248ea4a053f1b4e91d756628056a7a0 +size 2359424 diff --git a/train/FloorPlan223_physics/20/depth_0.png b/train/FloorPlan223_physics/20/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7b55fa95180ee5f06cd2ba4a4ce576c28c957b18 Binary files /dev/null and b/train/FloorPlan223_physics/20/depth_0.png differ diff --git a/train/FloorPlan223_physics/20/depth_1.png b/train/FloorPlan223_physics/20/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e04fadec4559fec7d2dd007018959f2811803628 Binary files /dev/null and b/train/FloorPlan223_physics/20/depth_1.png differ diff --git a/train/FloorPlan223_physics/20/mask_questions.jsonl b/train/FloorPlan223_physics/20/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..633e2c0f6f06649daad2ea9fe8e680d2c73285fa --- /dev/null +++ b/train/FloorPlan223_physics/20/mask_questions.jsonl @@ -0,0 +1,6 @@ +{"id": 20353, "folder_dir": "FloorPlan223_physics/20", "pair_name": "0-1:Laptop|-02.02|+00.45|-00.12", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Laptop\nC. ArmChair\nD. Window", "answer": "B", "object_name": "Laptop", "image_1": "FloorPlan223_physics/20/rgb_0.png", "image_2": "FloorPlan223_physics/20/rgb_1.png", "mask_image": "FloorPlan223_physics/20/rgb_1_mask_Laptop|-02.02|+00.45|-00.12.png", "options": ["Chair", "Laptop", "ArmChair", "Window"]} +{"id": 20354, "folder_dir": "FloorPlan223_physics/20", "pair_name": "0-1:DiningTable|+01.88|+00.00|-00.29", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. FloorLamp\nB. ArmChair\nC. DiningTable\nD. Window", "answer": "C", "object_name": "DiningTable", "image_1": "FloorPlan223_physics/20/rgb_0.png", "image_2": "FloorPlan223_physics/20/rgb_1.png", "mask_image": "FloorPlan223_physics/20/rgb_1_mask_DiningTable|+01.88|+00.00|-00.29.png", "options": ["FloorLamp", "ArmChair", "DiningTable", "Window"]} +{"id": 20355, "folder_dir": "FloorPlan223_physics/20", "pair_name": "0-1:Chair|+01.46|00.00|+00.20", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. ArmChair\nC. Vase\nD. Box", "answer": "A", "object_name": "Chair", "image_1": "FloorPlan223_physics/20/rgb_0.png", "image_2": "FloorPlan223_physics/20/rgb_1.png", "mask_image": "FloorPlan223_physics/20/rgb_1_mask_Chair|+01.46|00.00|+00.20.png", "options": ["Chair", "ArmChair", "Vase", "Box"]} +{"id": 20356, "folder_dir": "FloorPlan223_physics/20", "pair_name": "1-0:ArmChair|-00.44|+00.01|+01.92", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ArmChair\nB. Candle\nC. Sofa\nD. Laptop", "answer": "A", "object_name": "ArmChair", "image_1": "FloorPlan223_physics/20/rgb_1.png", "image_2": "FloorPlan223_physics/20/rgb_0.png", "mask_image": "FloorPlan223_physics/20/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png", "options": ["ArmChair", "Candle", "Sofa", "Laptop"]} +{"id": 20357, "folder_dir": "FloorPlan223_physics/20", "pair_name": "1-0:Laptop|-02.02|+00.45|-00.12", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ArmChair\nB. DiningTable\nC. Laptop\nD. GarbageCan", "answer": "C", "object_name": "Laptop", "image_1": "FloorPlan223_physics/20/rgb_1.png", "image_2": "FloorPlan223_physics/20/rgb_0.png", "mask_image": "FloorPlan223_physics/20/rgb_0_mask_Laptop|-02.02|+00.45|-00.12.png", "options": ["ArmChair", "DiningTable", "Laptop", "GarbageCan"]} +{"id": 20358, "folder_dir": "FloorPlan223_physics/20", "pair_name": "1-0:ArmChair|-00.43|+00.01|+01.06", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. ArmChair\nC. ArmChair\nD. Television", "answer": "B", "object_name": "ArmChair", "image_1": "FloorPlan223_physics/20/rgb_1.png", "image_2": "FloorPlan223_physics/20/rgb_0.png", "mask_image": "FloorPlan223_physics/20/rgb_0_mask_ArmChair|-00.43|+00.01|+01.06.png", "options": ["DiningTable", "ArmChair", "ArmChair", "Television"]} diff --git a/train/FloorPlan223_physics/20/rgb_0.png b/train/FloorPlan223_physics/20/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c2b08476bb4563c2e33887c743b0f63c58995427 --- /dev/null +++ b/train/FloorPlan223_physics/20/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9a7d25aa8368d5385bb0121096a2eb1068d0831c7317538ba5364eaeab547f9 +size 842353 diff --git a/train/FloorPlan223_physics/20/rgb_0_mask_ArmChair|-00.43|+00.01|+01.06.png b/train/FloorPlan223_physics/20/rgb_0_mask_ArmChair|-00.43|+00.01|+01.06.png new file mode 100644 index 0000000000000000000000000000000000000000..a1da7e2ff68ccf66aaeb4c05fda18674ab84c293 --- /dev/null +++ b/train/FloorPlan223_physics/20/rgb_0_mask_ArmChair|-00.43|+00.01|+01.06.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99d52e096232c0112c0927f083b22a92b8632a885283e8e6bde2e32f2fbdd68b +size 692350 diff --git a/train/FloorPlan223_physics/20/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png b/train/FloorPlan223_physics/20/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png new file mode 100644 index 0000000000000000000000000000000000000000..8de9642285be75462d6b5dfef20a9b8df0bcb1bf --- /dev/null +++ b/train/FloorPlan223_physics/20/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5739ecab60f8ab3f02646f4ddb636b9611003605c93c45e10268175d827e9faf +size 676420 diff --git a/train/FloorPlan223_physics/20/rgb_0_mask_Laptop|-02.02|+00.45|-00.12.png b/train/FloorPlan223_physics/20/rgb_0_mask_Laptop|-02.02|+00.45|-00.12.png new file mode 100644 index 0000000000000000000000000000000000000000..a59343efa847064da9939e9c37c126db10e5bd6d --- /dev/null +++ b/train/FloorPlan223_physics/20/rgb_0_mask_Laptop|-02.02|+00.45|-00.12.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7981161af20b45df08f60bdab9f728f374dee0a54c2ed540fb356afc1d8cc91 +size 733074 diff --git a/train/FloorPlan223_physics/20/rgb_1.png b/train/FloorPlan223_physics/20/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..8c1f1aeb97e7e07cf0d5e102576c754b52ce84d8 --- /dev/null +++ b/train/FloorPlan223_physics/20/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6f15bec90360ddbdffd2b1fd20ae5163fb9c0ed30479ea4b9c56d3c33e8ec51 +size 935182 diff --git a/train/FloorPlan223_physics/20/rgb_1_mask_Chair|+01.46|00.00|+00.20.png b/train/FloorPlan223_physics/20/rgb_1_mask_Chair|+01.46|00.00|+00.20.png new file mode 100644 index 0000000000000000000000000000000000000000..b4fe32059ef4ce7db9301b2011c48004e86f7294 --- /dev/null +++ b/train/FloorPlan223_physics/20/rgb_1_mask_Chair|+01.46|00.00|+00.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc57bc863ef39d486acfaa8d256c34c59e78c7b0c7ecd6d54250488d7c45d1bc +size 810810 diff --git a/train/FloorPlan223_physics/20/rgb_1_mask_DiningTable|+01.88|+00.00|-00.29.png b/train/FloorPlan223_physics/20/rgb_1_mask_DiningTable|+01.88|+00.00|-00.29.png new file mode 100644 index 0000000000000000000000000000000000000000..253db21ff104b626fac449f0e61be1478773b774 --- /dev/null +++ b/train/FloorPlan223_physics/20/rgb_1_mask_DiningTable|+01.88|+00.00|-00.29.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae9b8b1fb7caabbbbfba8386289583191f26aff09bc6abf9349a4fbfe17cf212 +size 795383 diff --git a/train/FloorPlan223_physics/20/rgb_1_mask_Laptop|-02.02|+00.45|-00.12.png b/train/FloorPlan223_physics/20/rgb_1_mask_Laptop|-02.02|+00.45|-00.12.png new file mode 100644 index 0000000000000000000000000000000000000000..242c304b9a1f61dd83b859265c4d8cc9f1bb31ba --- /dev/null +++ b/train/FloorPlan223_physics/20/rgb_1_mask_Laptop|-02.02|+00.45|-00.12.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26b212a3b9d9077043450f35e4581c9dcc3396680b10649e5996af46fa48c511 +size 819929 diff --git a/train/FloorPlan223_physics/20/semantic_0.png b/train/FloorPlan223_physics/20/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..dd36de9e973a2715d035b70c149e4a7f8bf855f9 Binary files /dev/null and b/train/FloorPlan223_physics/20/semantic_0.png differ diff --git a/train/FloorPlan223_physics/20/semantic_1.png b/train/FloorPlan223_physics/20/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..5cb9b12dfb17b30f1d20514f7dda00147360e6f6 Binary files /dev/null and b/train/FloorPlan223_physics/20/semantic_1.png differ diff --git a/train/FloorPlan223_physics/22/0.json b/train/FloorPlan223_physics/22/0.json new file mode 100644 index 0000000000000000000000000000000000000000..6ef891326688e619128d9c685b776cfc94dd4f2c --- /dev/null +++ b/train/FloorPlan223_physics/22/0.json @@ -0,0 +1,1242 @@ +{ + "object": [ + { + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "object_info": { + "name": "GarbageCan_cf69fd43", + "position": { + "x": 0.29969024658203125, + "y": 7.18235969543457e-06, + "z": 1.2532256841659546 + }, + "rotation": { + "x": 0.0006593925645574927, + "y": 2.2150020599365234, + "z": -0.002282413886860013 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7383514642715454, + "objectType": "GarbageCan", + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4879261255264282, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.0650081634521484 + ] + ], + "center": { + "x": 0.2996993362903595, + "y": 0.32798317074775696, + "z": 1.2532281875610352 + }, + "size": { + "x": 0.37645357847213745, + "y": 0.6559673547744751, + "z": 0.37644004821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.49219784140586853, + -3.6668598113465123e-07, + 1.4313961267471313 + ], + [ + 0.12151965498924255, + 9.915489499690011e-06, + 1.4457334280014038 + ], + [ + 0.10718235373497009, + 1.3122078598826192e-05, + 1.0750552415847778 + ], + [ + 0.47786054015159607, + 2.839903572748881e-06, + 1.0607179403305054 + ], + [ + 0.49221622943878174, + 0.6559540033340454, + 1.431401014328003 + ], + [ + 0.12153804302215576, + 0.6559642553329468, + 1.4457383155822754 + ], + [ + 0.1072007417678833, + 0.6559674739837646, + 1.0750601291656494 + ], + [ + 0.4778789281845093, + 0.6559572219848633, + 1.060722827911377 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "object_info": { + "name": "LightSwitch_477ce142", + "position": { + "x": -3.9000000953674316, + "y": 1.284000039100647, + "z": 1.684000015258789 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.813469171524048, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.8669681549072266, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.64006507396698 + ] + ], + "center": { + "x": -3.883484125137329, + "y": 1.2851357460021973, + "z": 1.684000015258789 + }, + "size": { + "x": 0.03303194046020508, + "y": 0.1647193431854248, + "z": 0.08786988258361816 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|+01.44", + "object_info": { + "name": "SideTable_ef1b602c", + "position": { + "x": -3.5979855060577393, + "y": 0.004337579011917114, + "z": 1.4379733800888062 + }, + "rotation": { + "x": 359.8045959472656, + "y": -0.00013349241635296494, + "z": 359.9132080078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|-03.59|+00.60|+01.43" + ], + "distance": 3.5311872959136963, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|+01.44", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.4255571365356445, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.260542392730713 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.260542392730713 + ] + ], + "center": { + "x": -3.5956337451934814, + "y": 0.3019368052482605, + "z": 1.4354181289672852 + }, + "size": { + "x": 0.34015321731567383, + "y": 0.6039015054702759, + "z": 0.34975147247314453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425769567489624, + -0.000412600114941597, + 1.610532522201538 + ], + [ + -3.765719413757324, + 0.00010331394150853157, + 1.6105319261550903 + ], + [ + -3.7657206058502197, + -0.0010759038850665092, + 1.260555386543274 + ], + [ + -3.4257707595825195, + -0.0015918179415166378, + 1.2605559825897217 + ], + [ + -3.4248530864715576, + 0.6035022735595703, + 1.6084977388381958 + ], + [ + -3.764802932739258, + 0.6040182113647461, + 1.608497142791748 + ], + [ + -3.7648041248321533, + 0.6028389930725098, + 1.258520483970642 + ], + [ + -3.424854278564453, + 0.602323055267334, + 1.2585210800170898 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Statue|-03.59|+00.60|+01.43", + "object_info": { + "name": "Statue_b51b8ac3", + "position": { + "x": -3.591968536376953, + "y": 0.6028220653533936, + "z": 1.4310815334320068 + }, + "rotation": { + "x": 0.07878818362951279, + "y": 90.00411224365234, + "z": 359.8116455078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.4201130867004395, + "objectType": "Statue", + "objectId": "Statue|-03.59|+00.60|+01.43", + "assetId": "Towel_Statue_1", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|+01.44" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.5098624229431152, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.3489149808883667 + ] + ], + "center": { + "x": -3.5919289588928223, + "y": 0.8084835410118103, + "z": 1.4310238361358643 + }, + "size": { + "x": 0.16413307189941406, + "y": 0.4112800359725952, + "z": 0.16421771049499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.5099401473999023, + 0.6027724146842957, + 1.3490607738494873 + ], + [ + -3.5099236965179443, + 0.603306770324707, + 1.5131219625473022 + ], + [ + -3.673985004425049, + 0.6035440564155579, + 1.513137698173523 + ], + [ + -3.674001455307007, + 0.6030097007751465, + 1.349076509475708 + ], + [ + -3.509345769882202, + 1.0137324333190918, + 1.3477221727371216 + ], + [ + -3.509329319000244, + 1.014266848564148, + 1.5117833614349365 + ], + [ + -3.6733906269073486, + 1.0145041942596436, + 1.5117990970611572 + ], + [ + -3.6734070777893066, + 1.0139697790145874, + 1.3477379083633423 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 0.7000000476837158, + "y": 0.9009991884231567, + "z": 0.10000000149011612 + }, + "agent_rotation": { + "x": -0.0, + "y": 319.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 0.7000000476837158, + "y": 1.5759992599487305, + "z": 0.10000000149011612 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "GarbageCan|+00.30|+00.00|+01.25", + "Laptop|-02.02|+00.45|-00.12", + "Sofa|-03.42|+00.01|-00.04", + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "different_object": [ + "ArmChair|-00.43|+00.01|+01.06", + "Statue|-03.59|+00.60|+01.43", + "SideTable|-03.60|+00.00|+01.44", + "LightSwitch|-03.90|+01.28|+01.68" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/22/0_depth_npy.npy b/train/FloorPlan223_physics/22/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5c3bd4bb67cec304415848c2a4e96784a71bea96 --- /dev/null +++ b/train/FloorPlan223_physics/22/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b4e41cb0ed14630280f85230d5f1fafa068de6672597f5c16a2766cb95cd782 +size 3145856 diff --git a/train/FloorPlan223_physics/22/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/22/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..2d3041cdc2bfd30775ec3ce86cf4a69abaefd184 --- /dev/null +++ b/train/FloorPlan223_physics/22/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9025b642744b8df62f25876651bef3e9b309321ea6558467af76bb216d929e90 +size 2359424 diff --git a/train/FloorPlan223_physics/22/1.json b/train/FloorPlan223_physics/22/1.json new file mode 100644 index 0000000000000000000000000000000000000000..24773d042685ee61a15994872da011a40acf4332 --- /dev/null +++ b/train/FloorPlan223_physics/22/1.json @@ -0,0 +1,2773 @@ +{ + "object": [ + { + "objectId": "WateringCan|-03.25|00.00|-01.86", + "object_info": { + "name": "WateringCan_31a595df", + "position": { + "x": -3.2522449493408203, + "y": -0.0008590668439865112, + "z": -1.8618444204330444 + }, + "rotation": { + "x": -0.0003620765928644687, + "y": -0.000614947231952101, + "z": 0.0007242992869578302 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.4430603981018066, + "objectType": "WateringCan", + "objectId": "WateringCan|-03.25|00.00|-01.86", + "assetId": "Watering_Can_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.176553726196289, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.9819858074188232 + ] + ], + "center": { + "x": -3.2522456645965576, + "y": 0.09692596644163132, + "z": -1.8485687971115112 + }, + "size": { + "x": 0.1513838768005371, + "y": 0.19385077059268951, + "z": 0.266834020614624 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1765549182891846, + 5.470355972647667e-07, + -1.715149998664856 + ], + [ + -3.3279380798339844, + -6.129266694188118e-07, + -1.7151516675949097 + ], + [ + -3.327935218811035, + -1.2035015970468521e-06, + -1.9819879531860352 + ], + [ + -3.1765518188476562, + -4.353933036327362e-08, + -1.9819862842559814 + ], + [ + -3.176556348800659, + 0.19385217130184174, + -1.7151503562927246 + ], + [ + -3.327939510345459, + 0.19385100901126862, + -1.7151521444320679 + ], + [ + -3.3279366493225098, + 0.19385041296482086, + -1.9819884300231934 + ], + [ + -3.17655348777771, + 0.19385157525539398, + -1.9819867610931396 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "object_info": { + "name": "GarbageCan_cf69fd43", + "position": { + "x": 0.29969024658203125, + "y": 7.18235969543457e-06, + "z": 1.2532256841659546 + }, + "rotation": { + "x": 0.0006593925645574927, + "y": 2.2150020599365234, + "z": -0.002282413886860013 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7383514642715454, + "objectType": "GarbageCan", + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4879261255264282, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.0650081634521484 + ] + ], + "center": { + "x": 0.2996993362903595, + "y": 0.32798317074775696, + "z": 1.2532281875610352 + }, + "size": { + "x": 0.37645357847213745, + "y": 0.6559673547744751, + "z": 0.37644004821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.49219784140586853, + -3.6668598113465123e-07, + 1.4313961267471313 + ], + [ + 0.12151965498924255, + 9.915489499690011e-06, + 1.4457334280014038 + ], + [ + 0.10718235373497009, + 1.3122078598826192e-05, + 1.0750552415847778 + ], + [ + 0.47786054015159607, + 2.839903572748881e-06, + 1.0607179403305054 + ], + [ + 0.49221622943878174, + 0.6559540033340454, + 1.431401014328003 + ], + [ + 0.12153804302215576, + 0.6559642553329468, + 1.4457383155822754 + ], + [ + 0.1072007417678833, + 0.6559674739837646, + 1.0750601291656494 + ], + [ + 0.4778789281845093, + 0.6559572219848633, + 1.060722827911377 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|-01.61", + "object_info": { + "name": "SideTable_32f926b8", + "position": { + "x": -3.597963809967041, + "y": 0.004360944032669067, + "z": -1.6070078611373901 + }, + "rotation": { + "x": 0.003428330644965172, + "y": 0.002825607778504491, + "z": 359.70733642578125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|-03.58|+00.60|-01.62" + ], + "distance": 3.6033060550689697, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|-01.61", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.425083637237549, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.425083637237549, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.7844332456588745 + ] + ], + "center": { + "x": -3.5953938961029053, + "y": 0.3019649386405945, + "z": -1.6094589233398438 + }, + "size": { + "x": 0.3406205177307129, + "y": 0.6039294004440308, + "z": 0.3499486446380615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425757646560669, + -0.0015295855700969696, + -1.434476375579834 + ], + [ + -3.7657032012939453, + 0.0001298254355788231, + -1.4344571828842163 + ], + [ + -3.76572322845459, + 6.832834333181381e-05, + -1.7844345569610596 + ], + [ + -3.4257779121398926, + -0.0015910826623439789, + -1.7844538688659668 + ], + [ + -3.4228098392486572, + 0.6023802757263184, + -1.4345827102661133 + ], + [ + -3.7627553939819336, + 0.6040396690368652, + -1.4345635175704956 + ], + [ + -3.762775421142578, + 0.603978157043457, + -1.7845408916473389 + ], + [ + -3.4228298664093018, + 0.6023187637329102, + -1.7845600843429565 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 2.200000047683716, + "y": 0.9009991884231567, + "z": 1.100000023841858 + }, + "agent_rotation": { + "x": -0.0, + "y": 242.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.200000047683716, + "y": 1.5759992599487305, + "z": 1.100000023841858 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "GarbageCan|+00.30|+00.00|+01.25", + "Laptop|-02.02|+00.45|-00.12", + "Sofa|-03.42|+00.01|-00.04", + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "different_object": [ + "WateringCan|-03.25|00.00|-01.86", + "Vase|+01.57|+00.78|-00.31", + "Vase|+01.84|+00.78|-00.30", + "Plate|+01.36|+00.78|-00.62", + "Chair|+01.64|00.00|-00.85", + "ArmChair|-02.01|+00.01|-01.58", + "Pillow|-01.93|+00.37|-01.49", + "SideTable|-03.60|+00.00|-01.61", + "DiningTable|+01.88|+00.00|-00.29", + "HousePlant|-03.58|+00.60|-01.62", + "Box|+01.27|+00.15|-00.29", + "Chair|+01.46|00.00|+00.20", + "Window|-02.00|+01.51|-01.93", + "Window|+01.48|+01.51|-01.93" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/22/1_depth_npy.npy b/train/FloorPlan223_physics/22/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..481ce78a062f52dfc0098a6ade48b2a27022e2c6 --- /dev/null +++ b/train/FloorPlan223_physics/22/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7b63b0a7b73fd123e8589b33b14b7d1faf3b07ea43287208dd65b675954e0de +size 3145856 diff --git a/train/FloorPlan223_physics/22/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/22/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fca890f6c8bf91b0fd7d18f06b9f29cd6e447dca --- /dev/null +++ b/train/FloorPlan223_physics/22/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:578ba9a9a6c5d4064f4bd37d0585d38bee434f30311add7c27dd08fe86ceb4ac +size 2359424 diff --git a/train/FloorPlan223_physics/22/depth_0.png b/train/FloorPlan223_physics/22/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e60ff25a75e61c1ed4e72a0dea3a89ab696bddb5 Binary files /dev/null and b/train/FloorPlan223_physics/22/depth_0.png differ diff --git a/train/FloorPlan223_physics/22/depth_1.png b/train/FloorPlan223_physics/22/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..7552a23bc4c8f21b181d8f3b5dd78b63878ee9c7 Binary files /dev/null and b/train/FloorPlan223_physics/22/depth_1.png differ diff --git a/train/FloorPlan223_physics/22/mask_questions.jsonl b/train/FloorPlan223_physics/22/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab17745fed22cf35e3679677dcd04ecbb491b75c --- /dev/null +++ b/train/FloorPlan223_physics/22/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 20374, "folder_dir": "FloorPlan223_physics/22", "pair_name": "0-1:GarbageCan|+00.30|+00.00|+01.25", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. Laptop\nC. LightSwitch\nD. SideTable", "answer": "A", "object_name": "GarbageCan", "image_1": "FloorPlan223_physics/22/rgb_0.png", "image_2": "FloorPlan223_physics/22/rgb_1.png", "mask_image": "FloorPlan223_physics/22/rgb_1_mask_GarbageCan|+00.30|+00.00|+01.25.png", "options": ["GarbageCan", "Laptop", "LightSwitch", "SideTable"]} +{"id": 20375, "folder_dir": "FloorPlan223_physics/22", "pair_name": "1-0:GarbageCan|+00.30|+00.00|+01.25", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. WateringCan\nB. Laptop\nC. Chair\nD. GarbageCan", "answer": "D", "object_name": "GarbageCan", "image_1": "FloorPlan223_physics/22/rgb_1.png", "image_2": "FloorPlan223_physics/22/rgb_0.png", "mask_image": "FloorPlan223_physics/22/rgb_0_mask_GarbageCan|+00.30|+00.00|+01.25.png", "options": ["WateringCan", "Laptop", "Chair", "GarbageCan"]} +{"id": 20376, "folder_dir": "FloorPlan223_physics/22", "pair_name": "1-0:Sofa|-03.42|+00.01|-00.04", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. Box\nC. GarbageCan\nD. Sofa", "answer": "D", "object_name": "Sofa", "image_1": "FloorPlan223_physics/22/rgb_1.png", "image_2": "FloorPlan223_physics/22/rgb_0.png", "mask_image": "FloorPlan223_physics/22/rgb_0_mask_Sofa|-03.42|+00.01|-00.04.png", "options": ["Window", "Box", "GarbageCan", "Sofa"]} diff --git a/train/FloorPlan223_physics/22/questions_distance.jsonl b/train/FloorPlan223_physics/22/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3153443f1ad6d7698cb8188fcad89aab6f352c33 --- /dev/null +++ b/train/FloorPlan223_physics/22/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 6019, "folder_dir": "FloorPlan223_physics/22", "query": "Which of the following objects is closest to GarbageCan in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Box\nB. Plate\nC. DiningTable\nD. Other\n", "answer": "A", "src_object": "GarbageCan", "target_object": "Box", "question": "Which of the following objects is closest to GarbageCan in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Box", "semantic_id": "Box|+01.27|+00.15|-00.29", "distance": 1.8882628476893308, "com": {"x": 1.2528727054595947, "y": 0.13431625068187714, "z": -0.365255743265152}}, {"text": "Plate", "semantic_id": "Plate|+01.36|+00.78|-00.62", "distance": 2.2063363146782393, "com": {"x": 1.36051607131958, "y": 0.7897693514823914, "z": -0.6254259347915649}}, {"text": "DiningTable", "semantic_id": "DiningTable|+01.88|+00.00|-00.29", "distance": 2.2139714883209467, "com": {"x": 1.8840001821517944, "y": 0.3906911015510559, "z": -0.2919993996620178}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/22/rgb_0.png", "image_2": "FloorPlan223_physics/22/rgb_1.png"} diff --git a/train/FloorPlan223_physics/22/rgb_0.png b/train/FloorPlan223_physics/22/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..5596d1339b4baab8ffaa9e6daeb81f6eeb62e806 --- /dev/null +++ b/train/FloorPlan223_physics/22/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f122a7f18e76d2a5c86fa96e33cb666199a049af0d6bb6143bffc8beeacdd188 +size 938474 diff --git a/train/FloorPlan223_physics/22/rgb_0_mask_GarbageCan|+00.30|+00.00|+01.25.png b/train/FloorPlan223_physics/22/rgb_0_mask_GarbageCan|+00.30|+00.00|+01.25.png new file mode 100644 index 0000000000000000000000000000000000000000..8e7b35c3db617e3fe2abbdf8591dca37fa131029 --- /dev/null +++ b/train/FloorPlan223_physics/22/rgb_0_mask_GarbageCan|+00.30|+00.00|+01.25.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:278242ea0580e26e1d4db00f45c0eba3316897c6e75416bcfb42b61148158371 +size 807547 diff --git a/train/FloorPlan223_physics/22/rgb_0_mask_Sofa|-03.42|+00.01|-00.04.png b/train/FloorPlan223_physics/22/rgb_0_mask_Sofa|-03.42|+00.01|-00.04.png new file mode 100644 index 0000000000000000000000000000000000000000..79d3f554c30ab688a78601043f685035f4c28cc9 --- /dev/null +++ b/train/FloorPlan223_physics/22/rgb_0_mask_Sofa|-03.42|+00.01|-00.04.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e177d1ff512cb911a503a59ddc37c77c0b1ba4b6fae8bc2a7b969f844bc71d1 +size 757316 diff --git a/train/FloorPlan223_physics/22/rgb_1.png b/train/FloorPlan223_physics/22/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..59f5041e1aabb9dfeac3f4da1b0982753351b695 --- /dev/null +++ b/train/FloorPlan223_physics/22/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9dd77e495029a1c806d4d8e7e24b930d98d2da52861022ee95a7ffaa982e2eb +size 860854 diff --git a/train/FloorPlan223_physics/22/rgb_1_mask_GarbageCan|+00.30|+00.00|+01.25.png b/train/FloorPlan223_physics/22/rgb_1_mask_GarbageCan|+00.30|+00.00|+01.25.png new file mode 100644 index 0000000000000000000000000000000000000000..3966015a7cbd2ec17e6ed688bdbc14100142108e --- /dev/null +++ b/train/FloorPlan223_physics/22/rgb_1_mask_GarbageCan|+00.30|+00.00|+01.25.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2afcd2ebd5b2886726cc745e269050390afc4ea76f0ef39690bade8e3a856d03 +size 742048 diff --git a/train/FloorPlan223_physics/22/semantic_0.png b/train/FloorPlan223_physics/22/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..4493974a1e38bcc2b24a1dbd8f5a417c9ceb977b Binary files /dev/null and b/train/FloorPlan223_physics/22/semantic_0.png differ diff --git a/train/FloorPlan223_physics/22/semantic_1.png b/train/FloorPlan223_physics/22/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..16fc94c5c50fb1f6d6cbe68de2507cfaf62086a8 Binary files /dev/null and b/train/FloorPlan223_physics/22/semantic_1.png differ diff --git a/train/FloorPlan223_physics/23/0.json b/train/FloorPlan223_physics/23/0.json new file mode 100644 index 0000000000000000000000000000000000000000..de12fbb9d4505a33774268d2a1e066923a3138c9 --- /dev/null +++ b/train/FloorPlan223_physics/23/0.json @@ -0,0 +1,3562 @@ +{ + "object": [ + { + "objectId": "WateringCan|-03.25|00.00|-01.86", + "object_info": { + "name": "WateringCan_31a595df", + "position": { + "x": -3.2522449493408203, + "y": -0.0008590668439865112, + "z": -1.8618444204330444 + }, + "rotation": { + "x": -0.0003620765928644687, + "y": -0.000614947231952101, + "z": 0.0007242992869578302 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.4430603981018066, + "objectType": "WateringCan", + "objectId": "WateringCan|-03.25|00.00|-01.86", + "assetId": "Watering_Can_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.176553726196289, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.9819858074188232 + ] + ], + "center": { + "x": -3.2522456645965576, + "y": 0.09692596644163132, + "z": -1.8485687971115112 + }, + "size": { + "x": 0.1513838768005371, + "y": 0.19385077059268951, + "z": 0.266834020614624 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1765549182891846, + 5.470355972647667e-07, + -1.715149998664856 + ], + [ + -3.3279380798339844, + -6.129266694188118e-07, + -1.7151516675949097 + ], + [ + -3.327935218811035, + -1.2035015970468521e-06, + -1.9819879531860352 + ], + [ + -3.1765518188476562, + -4.353933036327362e-08, + -1.9819862842559814 + ], + [ + -3.176556348800659, + 0.19385217130184174, + -1.7151503562927246 + ], + [ + -3.327939510345459, + 0.19385100901126862, + -1.7151521444320679 + ], + [ + -3.3279366493225098, + 0.19385041296482086, + -1.9819884300231934 + ], + [ + -3.17655348777771, + 0.19385157525539398, + -1.9819867610931396 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "object_info": { + "name": "GarbageCan_cf69fd43", + "position": { + "x": 0.29969024658203125, + "y": 7.18235969543457e-06, + "z": 1.2532256841659546 + }, + "rotation": { + "x": 0.0006593925645574927, + "y": 2.2150020599365234, + "z": -0.002282413886860013 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7383514642715454, + "objectType": "GarbageCan", + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4879261255264282, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.0650081634521484 + ] + ], + "center": { + "x": 0.2996993362903595, + "y": 0.32798317074775696, + "z": 1.2532281875610352 + }, + "size": { + "x": 0.37645357847213745, + "y": 0.6559673547744751, + "z": 0.37644004821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.49219784140586853, + -3.6668598113465123e-07, + 1.4313961267471313 + ], + [ + 0.12151965498924255, + 9.915489499690011e-06, + 1.4457334280014038 + ], + [ + 0.10718235373497009, + 1.3122078598826192e-05, + 1.0750552415847778 + ], + [ + 0.47786054015159607, + 2.839903572748881e-06, + 1.0607179403305054 + ], + [ + 0.49221622943878174, + 0.6559540033340454, + 1.431401014328003 + ], + [ + 0.12153804302215576, + 0.6559642553329468, + 1.4457383155822754 + ], + [ + 0.1072007417678833, + 0.6559674739837646, + 1.0750601291656494 + ], + [ + 0.4778789281845093, + 0.6559572219848633, + 1.060722827911377 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "object_info": { + "name": "LightSwitch_477ce142", + "position": { + "x": -3.9000000953674316, + "y": 1.284000039100647, + "z": 1.684000015258789 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.813469171524048, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.8669681549072266, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.64006507396698 + ] + ], + "center": { + "x": -3.883484125137329, + "y": 1.2851357460021973, + "z": 1.684000015258789 + }, + "size": { + "x": 0.03303194046020508, + "y": 0.1647193431854248, + "z": 0.08786988258361816 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|+01.44", + "object_info": { + "name": "SideTable_ef1b602c", + "position": { + "x": -3.5979855060577393, + "y": 0.004337579011917114, + "z": 1.4379733800888062 + }, + "rotation": { + "x": 359.8045959472656, + "y": -0.00013349241635296494, + "z": 359.9132080078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|-03.59|+00.60|+01.43" + ], + "distance": 3.5311872959136963, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|+01.44", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.4255571365356445, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.260542392730713 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.260542392730713 + ] + ], + "center": { + "x": -3.5956337451934814, + "y": 0.3019368052482605, + "z": 1.4354181289672852 + }, + "size": { + "x": 0.34015321731567383, + "y": 0.6039015054702759, + "z": 0.34975147247314453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425769567489624, + -0.000412600114941597, + 1.610532522201538 + ], + [ + -3.765719413757324, + 0.00010331394150853157, + 1.6105319261550903 + ], + [ + -3.7657206058502197, + -0.0010759038850665092, + 1.260555386543274 + ], + [ + -3.4257707595825195, + -0.0015918179415166378, + 1.2605559825897217 + ], + [ + -3.4248530864715576, + 0.6035022735595703, + 1.6084977388381958 + ], + [ + -3.764802932739258, + 0.6040182113647461, + 1.608497142791748 + ], + [ + -3.7648041248321533, + 0.6028389930725098, + 1.258520483970642 + ], + [ + -3.424854278564453, + 0.602323055267334, + 1.2585210800170898 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "Statue|-03.59|+00.60|+01.43", + "object_info": { + "name": "Statue_b51b8ac3", + "position": { + "x": -3.591968536376953, + "y": 0.6028220653533936, + "z": 1.4310815334320068 + }, + "rotation": { + "x": 0.07878818362951279, + "y": 90.00411224365234, + "z": 359.8116455078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.4201130867004395, + "objectType": "Statue", + "objectId": "Statue|-03.59|+00.60|+01.43", + "assetId": "Towel_Statue_1", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|+01.44" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.5098624229431152, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.3489149808883667 + ] + ], + "center": { + "x": -3.5919289588928223, + "y": 0.8084835410118103, + "z": 1.4310238361358643 + }, + "size": { + "x": 0.16413307189941406, + "y": 0.4112800359725952, + "z": 0.16421771049499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.5099401473999023, + 0.6027724146842957, + 1.3490607738494873 + ], + [ + -3.5099236965179443, + 0.603306770324707, + 1.5131219625473022 + ], + [ + -3.673985004425049, + 0.6035440564155579, + 1.513137698173523 + ], + [ + -3.674001455307007, + 0.6030097007751465, + 1.349076509475708 + ], + [ + -3.509345769882202, + 1.0137324333190918, + 1.3477221727371216 + ], + [ + -3.509329319000244, + 1.014266848564148, + 1.5117833614349365 + ], + [ + -3.6733906269073486, + 1.0145041942596436, + 1.5117990970611572 + ], + [ + -3.6734070777893066, + 1.0139697790145874, + 1.3477379083633423 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|-01.61", + "object_info": { + "name": "SideTable_32f926b8", + "position": { + "x": -3.597963809967041, + "y": 0.004360944032669067, + "z": -1.6070078611373901 + }, + "rotation": { + "x": 0.003428330644965172, + "y": 0.002825607778504491, + "z": 359.70733642578125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|-03.58|+00.60|-01.62" + ], + "distance": 3.6033060550689697, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|-01.61", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.425083637237549, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.425083637237549, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.7844332456588745 + ] + ], + "center": { + "x": -3.5953938961029053, + "y": 0.3019649386405945, + "z": -1.6094589233398438 + }, + "size": { + "x": 0.3406205177307129, + "y": 0.6039294004440308, + "z": 0.3499486446380615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425757646560669, + -0.0015295855700969696, + -1.434476375579834 + ], + [ + -3.7657032012939453, + 0.0001298254355788231, + -1.4344571828842163 + ], + [ + -3.76572322845459, + 6.832834333181381e-05, + -1.7844345569610596 + ], + [ + -3.4257779121398926, + -0.0015910826623439789, + -1.7844538688659668 + ], + [ + -3.4228098392486572, + 0.6023802757263184, + -1.4345827102661133 + ], + [ + -3.7627553939819336, + 0.6040396690368652, + -1.4345635175704956 + ], + [ + -3.762775421142578, + 0.603978157043457, + -1.7845408916473389 + ], + [ + -3.4228298664093018, + 0.6023187637329102, + -1.7845600843429565 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 2.9000000953674316, + "y": 0.9009991884231567, + "z": -1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 318.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.9000000953674316, + "y": 1.5759992599487305, + "z": -1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|+02.22|00.00|+00.15", + "WateringCan|-03.25|00.00|-01.86", + "Vase|+01.57|+00.78|-00.31", + "Sofa|-03.42|+00.01|-00.04", + "Vase|+01.84|+00.78|-00.30", + "Chair|+01.64|00.00|-00.85", + "Pillow|-01.93|+00.37|-01.49", + "ArmChair|-02.01|+00.01|-01.58", + "Plate|+01.36|+00.78|-00.62", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "SideTable|-03.60|+00.00|-01.61", + "DiningTable|+01.88|+00.00|-00.29", + "HousePlant|-03.58|+00.60|-01.62", + "Box|+01.27|+00.15|-00.29", + "Chair|+01.46|00.00|+00.20", + "Window|-02.00|+01.51|-01.93", + "Chair|+02.29|00.00|-00.78" + ], + "different_object": [ + "SideTable|-03.60|+00.00|+01.44", + "LightSwitch|-03.90|+01.28|+01.68", + "GarbageCan|+00.30|+00.00|+01.25", + "Statue|-03.59|+00.60|+01.43", + "ArmChair|-00.43|+00.01|+01.06" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/23/0_depth_npy.npy b/train/FloorPlan223_physics/23/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6e95db10fec91087e9ec0bf13955cef95f388459 --- /dev/null +++ b/train/FloorPlan223_physics/23/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66eaf3d9de6d0d81a19fb0d2f33e67c2f302f9f955c32e326ab398ea6f20aa2e +size 3145856 diff --git a/train/FloorPlan223_physics/23/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/23/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..4e049cfed3f10de56bc445df4c1c460b58b68ad8 --- /dev/null +++ b/train/FloorPlan223_physics/23/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ce1ceabc7f82fe16b6d33e32f57f4dc2e1fc0cd5256fa64f2581a2a9d96d44f +size 2359424 diff --git a/train/FloorPlan223_physics/23/1.json b/train/FloorPlan223_physics/23/1.json new file mode 100644 index 0000000000000000000000000000000000000000..f08c725f5abf5e12685f884549caf25b73ee077b --- /dev/null +++ b/train/FloorPlan223_physics/23/1.json @@ -0,0 +1,3153 @@ +{ + "object": [ + { + "objectId": "WateringCan|-03.25|00.00|-01.86", + "object_info": { + "name": "WateringCan_31a595df", + "position": { + "x": -3.2522449493408203, + "y": -0.0008590668439865112, + "z": -1.8618444204330444 + }, + "rotation": { + "x": -0.0003620765928644687, + "y": -0.000614947231952101, + "z": 0.0007242992869578302 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.4430603981018066, + "objectType": "WateringCan", + "objectId": "WateringCan|-03.25|00.00|-01.86", + "assetId": "Watering_Can_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.176553726196289, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.9819858074188232 + ] + ], + "center": { + "x": -3.2522456645965576, + "y": 0.09692596644163132, + "z": -1.8485687971115112 + }, + "size": { + "x": 0.1513838768005371, + "y": 0.19385077059268951, + "z": 0.266834020614624 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1765549182891846, + 5.470355972647667e-07, + -1.715149998664856 + ], + [ + -3.3279380798339844, + -6.129266694188118e-07, + -1.7151516675949097 + ], + [ + -3.327935218811035, + -1.2035015970468521e-06, + -1.9819879531860352 + ], + [ + -3.1765518188476562, + -4.353933036327362e-08, + -1.9819862842559814 + ], + [ + -3.176556348800659, + 0.19385217130184174, + -1.7151503562927246 + ], + [ + -3.327939510345459, + 0.19385100901126862, + -1.7151521444320679 + ], + [ + -3.3279366493225098, + 0.19385041296482086, + -1.9819884300231934 + ], + [ + -3.17655348777771, + 0.19385157525539398, + -1.9819867610931396 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "Window|+03.48|+01.51|-01.93", + "object_info": { + "name": "Window_dea94267", + "position": { + "x": 3.4800000190734863, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.463291168212891, + "objectType": "Window", + "objectId": "Window|+03.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.960000514984131, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.960000514984131, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -2.0399999618530273 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -2.0399999618530273 + ] + ], + "center": { + "x": 3.5, + "y": 1.0739160776138306, + "z": -1.9994010925292969 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.147834062576294, + "z": 0.08119773864746094 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|-01.61", + "object_info": { + "name": "SideTable_32f926b8", + "position": { + "x": -3.597963809967041, + "y": 0.004360944032669067, + "z": -1.6070078611373901 + }, + "rotation": { + "x": 0.003428330644965172, + "y": 0.002825607778504491, + "z": 359.70733642578125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|-03.58|+00.60|-01.62" + ], + "distance": 3.6033060550689697, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|-01.61", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.425083637237549, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.425083637237549, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.7844332456588745 + ] + ], + "center": { + "x": -3.5953938961029053, + "y": 0.3019649386405945, + "z": -1.6094589233398438 + }, + "size": { + "x": 0.3406205177307129, + "y": 0.6039294004440308, + "z": 0.3499486446380615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425757646560669, + -0.0015295855700969696, + -1.434476375579834 + ], + [ + -3.7657032012939453, + 0.0001298254355788231, + -1.4344571828842163 + ], + [ + -3.76572322845459, + 6.832834333181381e-05, + -1.7844345569610596 + ], + [ + -3.4257779121398926, + -0.0015910826623439789, + -1.7844538688659668 + ], + [ + -3.4228098392486572, + 0.6023802757263184, + -1.4345827102661133 + ], + [ + -3.7627553939819336, + 0.6040396690368652, + -1.4345635175704956 + ], + [ + -3.762775421142578, + 0.603978157043457, + -1.7845408916473389 + ], + [ + -3.4228298664093018, + 0.6023187637329102, + -1.7845600843429565 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|+04.14|+01.59|-00.30", + "object_info": { + "name": "Painting_984aa9d5", + "position": { + "x": 4.136000156402588, + "y": 1.590999960899353, + "z": -0.296999990940094 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.696467399597168, + "objectType": "Painting", + "objectId": "Painting|+04.14|+01.59|-00.30", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.215344429016113, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.215344429016113, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 1.1690006256103516, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 1.1690006256103516, + -0.8613617420196533 + ] + ], + "center": { + "x": 4.170792102813721, + "y": 1.5914161205291748, + "z": -0.27200978994369507 + }, + "size": { + "x": 0.08910465240478516, + "y": 0.8448309898376465, + "z": 1.1787039041519165 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.700000286102295, + "y": 0.9009991884231567, + "z": 0.9000000357627869 + }, + "agent_rotation": { + "x": -0.0, + "y": 212.99998474121094, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.700000286102295, + "y": 1.5759992599487305, + "z": 0.9000000357627869 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|+02.22|00.00|+00.15", + "WateringCan|-03.25|00.00|-01.86", + "Vase|+01.57|+00.78|-00.31", + "Sofa|-03.42|+00.01|-00.04", + "Vase|+01.84|+00.78|-00.30", + "Chair|+01.64|00.00|-00.85", + "Pillow|-01.93|+00.37|-01.49", + "ArmChair|-02.01|+00.01|-01.58", + "Plate|+01.36|+00.78|-00.62", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "SideTable|-03.60|+00.00|-01.61", + "DiningTable|+01.88|+00.00|-00.29", + "HousePlant|-03.58|+00.60|-01.62", + "Box|+01.27|+00.15|-00.29", + "Chair|+01.46|00.00|+00.20", + "Window|-02.00|+01.51|-01.93", + "Chair|+02.29|00.00|-00.78" + ], + "different_object": [ + "Window|+03.48|+01.51|-01.93", + "Painting|+04.14|+01.59|-00.30", + "Window|+01.48|+01.51|-01.93" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/23/1_depth_npy.npy b/train/FloorPlan223_physics/23/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f2bb4e1dd7ddebeb6d6f87272284016449384615 --- /dev/null +++ b/train/FloorPlan223_physics/23/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:722e150dda80ad25a0cdb126f072d82d97f9b787a4f1c066e9da2ab6b72e47de +size 3145856 diff --git a/train/FloorPlan223_physics/23/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/23/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9e363c9bd2c8bd0659add36f094733a1d4c9b9b6 --- /dev/null +++ b/train/FloorPlan223_physics/23/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:797c48a165633e921669acbd42189a0b7d8bab70249505e2aa8bf9965c57208c +size 2359424 diff --git a/train/FloorPlan223_physics/23/depth_0.png b/train/FloorPlan223_physics/23/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..0fa3189f7a51babcffc6fd4f6cca6831b2230121 Binary files /dev/null and b/train/FloorPlan223_physics/23/depth_0.png differ diff --git a/train/FloorPlan223_physics/23/depth_1.png b/train/FloorPlan223_physics/23/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..2121daf397afa9f534a9c8db3b2ba4bf4805982f Binary files /dev/null and b/train/FloorPlan223_physics/23/depth_1.png differ diff --git a/train/FloorPlan223_physics/23/mask_questions.jsonl b/train/FloorPlan223_physics/23/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..866362483ccf1294fa8bfa960eaf00b895b0d3f4 --- /dev/null +++ b/train/FloorPlan223_physics/23/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 20338, "folder_dir": "FloorPlan223_physics/23", "pair_name": "0-1:Chair|+02.29|00.00|-00.78", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. LightSwitch\nC. Chair\nD. GarbageCan", "answer": "A", "object_name": "Chair", "image_1": "FloorPlan223_physics/23/rgb_0.png", "image_2": "FloorPlan223_physics/23/rgb_1.png", "mask_image": "FloorPlan223_physics/23/rgb_1_mask_Chair|+02.29|00.00|-00.78.png", "options": ["Chair", "LightSwitch", "Chair", "GarbageCan"]} +{"id": 20339, "folder_dir": "FloorPlan223_physics/23", "pair_name": "1-0:Chair|+02.22|00.00|+00.15", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. WateringCan\nB. Window\nC. Window\nD. Chair", "answer": "D", "object_name": "Chair", "image_1": "FloorPlan223_physics/23/rgb_1.png", "image_2": "FloorPlan223_physics/23/rgb_0.png", "mask_image": "FloorPlan223_physics/23/rgb_0_mask_Chair|+02.22|00.00|+00.15.png", "options": ["WateringCan", "Window", "Window", "Chair"]} +{"id": 20340, "folder_dir": "FloorPlan223_physics/23", "pair_name": "1-0:Vase|+01.84|+00.78|-00.30", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Painting\nC. Window\nD. Vase", "answer": "D", "object_name": "Vase", "image_1": "FloorPlan223_physics/23/rgb_1.png", "image_2": "FloorPlan223_physics/23/rgb_0.png", "mask_image": "FloorPlan223_physics/23/rgb_0_mask_Vase|+01.84|+00.78|-00.30.png", "options": ["Chair", "Painting", "Window", "Vase"]} diff --git a/train/FloorPlan223_physics/23/questions_distance.jsonl b/train/FloorPlan223_physics/23/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06c4dc443872e2c76614c48392c11842277adcd6 --- /dev/null +++ b/train/FloorPlan223_physics/23/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 6010, "folder_dir": "FloorPlan223_physics/23", "query": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CoffeeTable\nB. Statue\nC. Laptop\nD. Other\n", "answer": "C", "src_object": "Sofa", "target_object": "Laptop", "question": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "CoffeeTable", "semantic_id": "CoffeeTable|-02.02|+00.01|+00.02", "distance": 1.4598880785936588, "com": {"x": -2.0229990482330322, "y": 0.2217133343219757, "z": 0.017372846603393555}}, {"text": "Statue", "semantic_id": "Statue|-03.59|+00.60|+01.43", "distance": 1.4930134418687686, "com": {"x": -3.5919289588928223, "y": 0.8084835410118103, "z": 1.4310238361358643}}, {"text": "Laptop", "semantic_id": "Laptop|-02.02|+00.45|-00.12", "distance": 1.4091148683934644, "com": {"x": -2.011923313140869, "y": 0.6075440645217896, "z": -0.1197483092546463}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/23/rgb_0.png", "image_2": "FloorPlan223_physics/23/rgb_1.png"} +{"id": 6011, "folder_dir": "FloorPlan223_physics/23", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Box\nB. GarbageCan\nC. Plate\nD. Other\n", "answer": "A", "src_object": "DiningTable", "target_object": "Box", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Box", "semantic_id": "Box|+01.27|+00.15|-00.29", "distance": 0.6851397287211983, "com": {"x": 1.2528727054595947, "y": 0.13431625068187714, "z": -0.365255743265152}}, {"text": "GarbageCan", "semantic_id": "GarbageCan|+00.30|+00.00|+01.25", "distance": 2.2139714883209467, "com": {"x": 0.2996993362903595, "y": 0.32798317074775696, "z": 1.2532281875610352}}, {"text": "Plate", "semantic_id": "Plate|+01.36|+00.78|-00.62", "distance": 0.7378836752432911, "com": {"x": 1.36051607131958, "y": 0.7897693514823914, "z": -0.6254259347915649}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/23/rgb_0.png", "image_2": "FloorPlan223_physics/23/rgb_1.png"} diff --git a/train/FloorPlan223_physics/23/rgb_0.png b/train/FloorPlan223_physics/23/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6665a9991679ed8222ef53218b49218c8bf70857 --- /dev/null +++ b/train/FloorPlan223_physics/23/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a406b01b91cc3595869ecb4a736f28fff00073a8a94c6aac71743052644447e +size 848464 diff --git a/train/FloorPlan223_physics/23/rgb_0_mask_Chair|+02.22|00.00|+00.15.png b/train/FloorPlan223_physics/23/rgb_0_mask_Chair|+02.22|00.00|+00.15.png new file mode 100644 index 0000000000000000000000000000000000000000..ed07489eaca1d2c0148ce13c47002bfa64a01be1 --- /dev/null +++ b/train/FloorPlan223_physics/23/rgb_0_mask_Chair|+02.22|00.00|+00.15.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af7080b8434681e80624ddf30c0955fb79f129604a76a300f107978928353898 +size 742354 diff --git a/train/FloorPlan223_physics/23/rgb_0_mask_Vase|+01.84|+00.78|-00.30.png b/train/FloorPlan223_physics/23/rgb_0_mask_Vase|+01.84|+00.78|-00.30.png new file mode 100644 index 0000000000000000000000000000000000000000..55bf101403cd1bfb2b6429ea5632c99f8bf049ad --- /dev/null +++ b/train/FloorPlan223_physics/23/rgb_0_mask_Vase|+01.84|+00.78|-00.30.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ff5d73d9a4a86df87d93fd586aed1fdc07755a5f593deb4257863f7a10b820d +size 743897 diff --git a/train/FloorPlan223_physics/23/rgb_1.png b/train/FloorPlan223_physics/23/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..827d16eb10314397294e165edbfd6e4d7df1add2 --- /dev/null +++ b/train/FloorPlan223_physics/23/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c5b6851e9d913807872cdd76357b1873230b11d0254defb87182428d86169dd +size 836113 diff --git a/train/FloorPlan223_physics/23/rgb_1_mask_Chair|+02.29|00.00|-00.78.png b/train/FloorPlan223_physics/23/rgb_1_mask_Chair|+02.29|00.00|-00.78.png new file mode 100644 index 0000000000000000000000000000000000000000..e8a4431f4c79bd23a51bbd6d9e46c9ddba50e3cc --- /dev/null +++ b/train/FloorPlan223_physics/23/rgb_1_mask_Chair|+02.29|00.00|-00.78.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc48248e9bb4fedb7dcae75ccc3c546c80b4807a2af5d09e70d829a6f810d8bd +size 716133 diff --git a/train/FloorPlan223_physics/23/semantic_0.png b/train/FloorPlan223_physics/23/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3e837ee3789878cd80f04b318bb05fda2a614220 Binary files /dev/null and b/train/FloorPlan223_physics/23/semantic_0.png differ diff --git a/train/FloorPlan223_physics/23/semantic_1.png b/train/FloorPlan223_physics/23/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..c2bf598c50ca6732ba589c5e8dca46a4a58f202d Binary files /dev/null and b/train/FloorPlan223_physics/23/semantic_1.png differ diff --git a/train/FloorPlan223_physics/26/0.json b/train/FloorPlan223_physics/26/0.json new file mode 100644 index 0000000000000000000000000000000000000000..b1d27c1e9bda56a7976e42e002ad5f574ab36840 --- /dev/null +++ b/train/FloorPlan223_physics/26/0.json @@ -0,0 +1,2569 @@ +{ + "object": [ + { + "objectId": "WateringCan|-03.25|00.00|-01.86", + "object_info": { + "name": "WateringCan_31a595df", + "position": { + "x": -3.2522449493408203, + "y": -0.0008590668439865112, + "z": -1.8618444204330444 + }, + "rotation": { + "x": -0.0003620765928644687, + "y": -0.000614947231952101, + "z": 0.0007242992869578302 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.4430603981018066, + "objectType": "WateringCan", + "objectId": "WateringCan|-03.25|00.00|-01.86", + "assetId": "Watering_Can_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.176553726196289, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.9819858074188232 + ] + ], + "center": { + "x": -3.2522456645965576, + "y": 0.09692596644163132, + "z": -1.8485687971115112 + }, + "size": { + "x": 0.1513838768005371, + "y": 0.19385077059268951, + "z": 0.266834020614624 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1765549182891846, + 5.470355972647667e-07, + -1.715149998664856 + ], + [ + -3.3279380798339844, + -6.129266694188118e-07, + -1.7151516675949097 + ], + [ + -3.327935218811035, + -1.2035015970468521e-06, + -1.9819879531860352 + ], + [ + -3.1765518188476562, + -4.353933036327362e-08, + -1.9819862842559814 + ], + [ + -3.176556348800659, + 0.19385217130184174, + -1.7151503562927246 + ], + [ + -3.327939510345459, + 0.19385100901126862, + -1.7151521444320679 + ], + [ + -3.3279366493225098, + 0.19385041296482086, + -1.9819884300231934 + ], + [ + -3.17655348777771, + 0.19385157525539398, + -1.9819867610931396 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Window|+03.48|+01.51|-01.93", + "object_info": { + "name": "Window_dea94267", + "position": { + "x": 3.4800000190734863, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.463291168212891, + "objectType": "Window", + "objectId": "Window|+03.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.960000514984131, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.960000514984131, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -2.0399999618530273 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -2.0399999618530273 + ] + ], + "center": { + "x": 3.5, + "y": 1.0739160776138306, + "z": -1.9994010925292969 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.147834062576294, + "z": 0.08119773864746094 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.8000000715255737, + "y": 0.9009991884231567, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 170.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.8000000715255737, + "y": 1.5759992599487305, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "ArmChair|-00.43|+00.01|+01.06", + "Sofa|-03.42|+00.01|-00.04", + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "different_object": [ + "WateringCan|-03.25|00.00|-01.86", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62", + "Chair|+01.64|00.00|-00.85", + "ArmChair|-02.01|+00.01|-01.58", + "Pillow|-01.93|+00.37|-01.49", + "Window|+03.48|+01.51|-01.93", + "Laptop|-02.02|+00.45|-00.12", + "HousePlant|-03.58|+00.60|-01.62", + "Box|+01.27|+00.15|-00.29", + "DiningTable|+01.88|+00.00|-00.29", + "Window|-02.00|+01.51|-01.93", + "Window|+01.48|+01.51|-01.93", + "Chair|+02.29|00.00|-00.78" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/26/0_depth_npy.npy b/train/FloorPlan223_physics/26/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9e163cab26dc4f21d15d78ecb9344af15937e53d --- /dev/null +++ b/train/FloorPlan223_physics/26/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a257d9bb72fc52787a035bce288f71fd731fdd5ebcbdb7360379345b4ecb5b37 +size 3145856 diff --git a/train/FloorPlan223_physics/26/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/26/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..11f937fdd22ba833be199d1f05911b764be47cf8 --- /dev/null +++ b/train/FloorPlan223_physics/26/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:209c41eb47314e27979d3e32aed95825546e2264c2e97218e74a3e2179de1d0e +size 2359424 diff --git a/train/FloorPlan223_physics/26/1.json b/train/FloorPlan223_physics/26/1.json new file mode 100644 index 0000000000000000000000000000000000000000..cb7d1af448b541ae07f1dad1ca441edc2dc6da4d --- /dev/null +++ b/train/FloorPlan223_physics/26/1.json @@ -0,0 +1,2092 @@ +{ + "object": [ + { + "objectId": "Statue|-02.04|+00.24|+02.75", + "object_info": { + "name": "Statue_2147f514", + "position": { + "x": -2.0441362857818604, + "y": 0.2397981435060501, + "z": 2.7487399578094482 + }, + "rotation": { + "x": 0.5867406129837036, + "y": 359.98504638671875, + "z": 0.9680944681167603 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Stone" + ], + "receptacleObjectIds": null, + "distance": 3.221353054046631, + "objectType": "Statue", + "objectId": "Statue|-02.04|+00.24|+02.75", + "assetId": "Dog_Statue_4", + "parentReceptacles": [ + "DiningTable|-01.86|+00.23|+02.79", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.9340085983276367, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.7116007804870605 + ] + ], + "center": { + "x": -2.067904472351074, + "y": 0.33797669410705566, + "z": 2.777303695678711 + }, + "size": { + "x": 0.267791748046875, + "y": 0.20818185806274414, + "z": 0.13140583038330078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.932020902633667, + 0.23496071994304657, + 2.8412842750549316 + ], + [ + -2.2012362480163574, + 0.23041173815727234, + 2.841167449951172 + ], + [ + -2.201202392578125, + 0.2317402958869934, + 2.711437225341797 + ], + [ + -1.9319870471954346, + 0.23628926277160645, + 2.7115540504455566 + ], + [ + -1.9355692863464355, + 0.44490715861320496, + 2.843433380126953 + ], + [ + -2.204784631729126, + 0.44035816192626953, + 2.8433165550231934 + ], + [ + -2.2047507762908936, + 0.4416867196559906, + 2.7135863304138184 + ], + [ + -1.9355354309082031, + 0.446235716342926, + 2.713703155517578 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "object_info": { + "name": "FloorLamp_3964945b", + "position": { + "x": -0.33106115460395813, + "y": 0.0020943880081176758, + "z": 2.728121280670166 + }, + "rotation": { + "x": 0.028233468532562256, + "y": 359.9642333984375, + "z": 0.0124844741076231 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.8773627281188965, + "objectType": "FloorLamp", + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "assetId": "Floor_Lamp_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07376223802566528, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.470034599304199 + ] + ], + "center": { + "x": -0.33205798268318176, + "y": 0.9319358468055725, + "z": 2.7284581661224365 + }, + "size": { + "x": 0.516591489315033, + "y": 1.8638250827789307, + "z": 0.5168471336364746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.07385668158531189, + 4.743225872516632e-05, + 2.9870007038116455 + ], + [ + -0.5905872583389282, + -2.8995331376791e-05, + 2.986692190170288 + ], + [ + -0.5902788639068604, + 0.00010942760854959488, + 2.4699525833129883 + ], + [ + -0.0735483169555664, + 0.00018585508223623037, + 2.4702610969543457 + ], + [ + -0.07413265109062195, + 1.8638358116149902, + 2.987499713897705 + ], + [ + -0.5908632278442383, + 1.8637592792510986, + 2.9871912002563477 + ], + [ + -0.5905548334121704, + 1.8638978004455566, + 2.470451593399048 + ], + [ + -0.07382425665855408, + 1.8639740943908691, + 2.4707601070404053 + ] + ] + } + } + }, + { + "objectId": "Candle|-01.54|+00.23|+02.74", + "object_info": { + "name": "Candle_f40c2f5f", + "position": { + "x": -1.536789894104004, + "y": 0.2342444658279419, + "z": 2.7418534755706787 + }, + "rotation": { + "x": 0.09415348619222641, + "y": 359.6438903808594, + "z": 0.19696395099163055 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Wax" + ], + "receptacleObjectIds": null, + "distance": 3.0062029361724854, + "objectType": "Candle", + "objectId": "Candle|-01.54|+00.23|+02.74", + "assetId": "Candle_6", + "parentReceptacles": [ + "DiningTable|-01.86|+00.23|+02.79", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5155794620513916, + 0.40167558193206787, + 2.7630717754364014 + ], + [ + -1.5155794620513916, + 0.40167558193206787, + 2.7206437587738037 + ], + [ + -1.5155794620513916, + 0.23379802703857422, + 2.7630717754364014 + ], + [ + -1.5155794620513916, + 0.23379802703857422, + 2.7206437587738037 + ], + [ + -1.5580174922943115, + 0.40167558193206787, + 2.7630717754364014 + ], + [ + -1.5580174922943115, + 0.40167558193206787, + 2.7206437587738037 + ], + [ + -1.5580174922943115, + 0.23379802703857422, + 2.7630717754364014 + ], + [ + -1.5580174922943115, + 0.23379802703857422, + 2.7206437587738037 + ] + ], + "center": { + "x": -1.5367984771728516, + "y": 0.31773680448532104, + "z": 2.7418577671051025 + }, + "size": { + "x": 0.04243803024291992, + "y": 0.16787755489349365, + "z": 0.042428016662597656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.515762448310852, + 0.2339225858449936, + 2.7631423473358154 + ], + [ + -1.5580779314041138, + 0.23377712070941925, + 2.7628791332244873 + ], + [ + -1.5578149557113647, + 0.23384664952754974, + 2.7205634117126465 + ], + [ + -1.5154993534088135, + 0.23399212956428528, + 2.7208266258239746 + ], + [ + -1.516340970993042, + 0.401713490486145, + 2.7634143829345703 + ], + [ + -1.5586564540863037, + 0.4015679955482483, + 2.763151168823242 + ], + [ + -1.5583934783935547, + 0.40163755416870117, + 2.7208356857299805 + ], + [ + -1.5160778760910034, + 0.4017830193042755, + 2.7210988998413086 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "object_info": { + "name": "DiningTable_42373f1f", + "position": { + "x": -1.8579727411270142, + "y": 0.2316993921995163, + "z": 2.7878525257110596 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75" + ], + "distance": 3.172408103942871, + "objectType": "DiningTable", + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.353766918182373, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.6145288944244385 + ] + ], + "center": { + "x": -1.8579730987548828, + "y": 0.27928826212882996, + "z": 2.787849187850952 + }, + "size": { + "x": 1.0084123611450195, + "y": 0.09547990560531616, + "z": 0.34664058685302734 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "object_info": { + "name": "RemoteControl_09703e97", + "position": { + "x": -2.2912778854370117, + "y": 0.7151373624801636, + "z": 2.7494349479675293 + }, + "rotation": { + "x": 359.9211120605469, + "y": 0.35118886828422546, + "z": 359.98101806640625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.2867329120635986, + "objectType": "RemoteControl", + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "assetId": "Remote_3", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.256807565689087, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.6374101638793945 + ] + ], + "center": { + "x": -2.290771484375, + "y": 0.7245430946350098, + "z": 2.7473092079162598 + }, + "size": { + "x": 0.06792783737182617, + "y": 0.02184438705444336, + "z": 0.21979808807373047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.256814479827881, + 0.7139212489128113, + 2.8567938804626465 + ], + [ + -2.3244235515594482, + 0.713943600654602, + 2.857208251953125 + ], + [ + -2.325768232345581, + 0.7136415839195251, + 2.6378211975097656 + ], + [ + -2.2581591606140137, + 0.7136191725730896, + 2.637406826019287 + ], + [ + -2.256807565689087, + 0.7354427576065063, + 2.856764078140259 + ], + [ + -2.3244166374206543, + 0.7354651689529419, + 2.8571784496307373 + ], + [ + -2.325761318206787, + 0.735163152217865, + 2.637791633605957 + ], + [ + -2.2581522464752197, + 0.7351407408714294, + 2.6373772621154785 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "object_info": { + "name": "LightSwitch_477ce142", + "position": { + "x": -3.9000000953674316, + "y": 1.284000039100647, + "z": 1.684000015258789 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.813469171524048, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.8669681549072266, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.64006507396698 + ] + ], + "center": { + "x": -3.883484125137329, + "y": 1.2851357460021973, + "z": 1.684000015258789 + }, + "size": { + "x": 0.03303194046020508, + "y": 0.1647193431854248, + "z": 0.08786988258361816 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Statue|-03.59|+00.60|+01.43", + "object_info": { + "name": "Statue_b51b8ac3", + "position": { + "x": -3.591968536376953, + "y": 0.6028220653533936, + "z": 1.4310815334320068 + }, + "rotation": { + "x": 0.07878818362951279, + "y": 90.00411224365234, + "z": 359.8116455078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.4201130867004395, + "objectType": "Statue", + "objectId": "Statue|-03.59|+00.60|+01.43", + "assetId": "Towel_Statue_1", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|+01.44" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.5098624229431152, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.3489149808883667 + ] + ], + "center": { + "x": -3.5919289588928223, + "y": 0.8084835410118103, + "z": 1.4310238361358643 + }, + "size": { + "x": 0.16413307189941406, + "y": 0.4112800359725952, + "z": 0.16421771049499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.5099401473999023, + 0.6027724146842957, + 1.3490607738494873 + ], + [ + -3.5099236965179443, + 0.603306770324707, + 1.5131219625473022 + ], + [ + -3.673985004425049, + 0.6035440564155579, + 1.513137698173523 + ], + [ + -3.674001455307007, + 0.6030097007751465, + 1.349076509475708 + ], + [ + -3.509345769882202, + 1.0137324333190918, + 1.3477221727371216 + ], + [ + -3.509329319000244, + 1.014266848564148, + 1.5117833614349365 + ], + [ + -3.6733906269073486, + 1.0145041942596436, + 1.5117990970611572 + ], + [ + -3.6734070777893066, + 1.0139697790145874, + 1.3477379083633423 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "object_info": { + "name": "ArmChair_4b8c6e75", + "position": { + "x": -0.43700525164604187, + "y": 0.005729973316192627, + "z": 1.9230469465255737 + }, + "rotation": { + "x": 4.141504905419424e-05, + "y": 270.00018310546875, + "z": -0.0001669862394919619 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1221652030944824, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04723113775253296, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.04723113775253296, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 1.5481648445129395 + ] + ], + "center": { + "x": -0.43125927448272705, + "y": 0.3626064956188202, + "z": 1.9265482425689697 + }, + "size": { + "x": 0.7680562734603882, + "y": 0.7252018451690674, + "z": 0.7567667961120605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8153156042098999, + 1.087365671992302e-05, + 2.3049323558807373 + ], + [ + -0.8153178691864014, + 1.3908371329307556e-05, + 1.5481648445129395 + ], + [ + -0.04725685715675354, + 1.4075078070163727e-05, + 1.548162579536438 + ], + [ + -0.04725465178489685, + 1.104036346077919e-05, + 2.3049302101135254 + ], + [ + -0.8153157830238342, + 0.7252148985862732, + 2.3049352169036865 + ], + [ + -0.8153179883956909, + 0.7252179384231567, + 1.5481677055358887 + ], + [ + -0.04725700616836548, + 0.7252180576324463, + 1.5481654405593872 + ], + [ + -0.04725480079650879, + 0.7252150177955627, + 2.3049330711364746 + ] + ] + } + } + }, + { + "objectId": "TVStand|-01.86|+00.00|+02.79", + "object_info": { + "name": "TVStand_3ce96f2f", + "position": { + "x": -1.8579983711242676, + "y": 0.00039079785346984863, + "z": 2.787977933883667 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Television|-01.86|+01.20|+02.70", + "RemoteControl|-02.29|+00.71|+02.75" + ], + "distance": 3.2292532920837402, + "objectType": "TVStand", + "objectId": "TVStand|-01.86|+00.00|+02.79", + "assetId": "TV_Stand_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3527679443359375, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -1.3527679443359375, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.6121463775634766 + ] + ], + "center": { + "x": -1.8609373569488525, + "y": 0.35679537057876587, + "z": 2.7879385948181152 + }, + "size": { + "x": 1.01633882522583, + "y": 0.7136019468307495, + "z": 0.35158443450927734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.3528119325637817, + 2.9323389753699303e-05, + 2.963749408721924 + ], + [ + -2.3691158294677734, + 7.576588541269302e-05, + 2.9637136459350586 + ], + [ + -2.36910343170166, + 3.9373175241053104e-05, + 2.61221981048584 + ], + [ + -1.352799654006958, + -7.069320417940617e-06, + 2.612255334854126 + ], + [ + -1.3527793884277344, + 0.7135501503944397, + 2.9636754989624023 + ], + [ + -2.3690831661224365, + 0.7135965824127197, + 2.963639736175537 + ], + [ + -2.3690710067749023, + 0.7135602235794067, + 2.6121459007263184 + ], + [ + -1.352766990661621, + 0.7135137915611267, + 2.6121814250946045 + ] + ] + } + } + }, + { + "objectId": "Painting|-00.06|+01.60|+01.73", + "object_info": { + "name": "Painting_9a6f96ff", + "position": { + "x": -0.0560000017285347, + "y": 1.6019999980926514, + "z": 1.7330000400543213 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9214128255844116, + "objectType": "Painting", + "objectId": "Painting|-00.06|+01.60|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.02334464341402054, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 2.0239996910095215, + 1.168489694595337 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 1.168489694595337 + ] + ], + "center": { + "x": -0.02120792120695114, + "y": 1.598686695098877, + "z": 1.7579162120819092 + }, + "size": { + "x": 0.08910512924194336, + "y": 0.8506259918212891, + "z": 1.1788530349731445 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|-01.86|+01.20|+02.70", + "object_info": { + "name": "Television_430e1f04", + "position": { + "x": -1.8597434759140015, + "y": 1.200732946395874, + "z": 2.7014834880828857 + }, + "rotation": { + "x": 359.06036376953125, + "y": 179.99822998046875, + "z": -0.0007116764318197966 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.03920316696167, + "objectType": "Television", + "objectId": "Television|-01.86|+01.20|+02.70", + "assetId": "Television_23", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.359736442565918, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.594604730606079 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.594604730606079 + ] + ], + "center": { + "x": -1.8597421646118164, + "y": 1.1164844036102295, + "z": 2.7694149017333984 + }, + "size": { + "x": 1.0000114440917969, + "y": 0.8063507080078125, + "z": 0.34962034225463867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.359734058380127, + 0.7141113877296448, + 2.589648723602295 + ], + [ + -1.3597339391708374, + 0.7141237854957581, + 2.5896799564361572 + ], + [ + -1.359744906425476, + 0.7083142399787903, + 2.9438905715942383 + ], + [ + -2.3597450256347656, + 0.708301842212677, + 2.943859577178955 + ], + [ + -2.3597443103790283, + 1.5198802947998047, + 2.6028645038604736 + ], + [ + -1.3597443103790283, + 1.519892692565918, + 2.602895736694336 + ], + [ + -1.359755277633667, + 1.5140831470489502, + 2.957106351852417 + ], + [ + -2.359755277633667, + 1.514070749282837, + 2.9570751190185547 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -1.4000000953674316, + "y": 0.9009991884231567, + "z": -0.699999988079071 + }, + "agent_rotation": { + "x": -0.0, + "y": 1.999999761581421, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.4000000953674316, + "y": 1.5759992599487305, + "z": -0.699999988079071 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "ArmChair|-00.43|+00.01|+01.06", + "Sofa|-03.42|+00.01|-00.04", + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "different_object": [ + "LightSwitch|-03.90|+01.28|+01.68", + "RemoteControl|-02.29|+00.71|+02.75", + "Painting|-00.06|+01.60|+01.73", + "ArmChair|-00.44|+00.01|+01.92", + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75", + "Television|-01.86|+01.20|+02.70", + "DiningTable|-01.86|+00.23|+02.79", + "TVStand|-01.86|+00.00|+02.79", + "FloorLamp|-00.33|+00.00|+02.73", + "Statue|-03.59|+00.60|+01.43" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/26/1_depth_npy.npy b/train/FloorPlan223_physics/26/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5942bb6828aacd0ccc54a13528070717ae3c15e6 --- /dev/null +++ b/train/FloorPlan223_physics/26/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60c3f3df7628b2a4cfba023c50083af58492f751eea7dfb2b89430536329f60a +size 3145856 diff --git a/train/FloorPlan223_physics/26/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/26/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0c55a0175b188985de814327fd84e7f0f9886217 --- /dev/null +++ b/train/FloorPlan223_physics/26/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:166c26c0729aaf6940b5f19c74d087d1bd1acdf99ea7dd414009a75dd7e7fdee +size 2359424 diff --git a/train/FloorPlan223_physics/26/depth_0.png b/train/FloorPlan223_physics/26/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..18856796f68f561ac5866f95d8dc5bb03fa8245f Binary files /dev/null and b/train/FloorPlan223_physics/26/depth_0.png differ diff --git a/train/FloorPlan223_physics/26/depth_1.png b/train/FloorPlan223_physics/26/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..176854601c620e975004310f211361fe1cb57cee Binary files /dev/null and b/train/FloorPlan223_physics/26/depth_1.png differ diff --git a/train/FloorPlan223_physics/26/mask_questions.jsonl b/train/FloorPlan223_physics/26/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a44e0881f127a623f5a50ce483dbedde11317fb --- /dev/null +++ b/train/FloorPlan223_physics/26/mask_questions.jsonl @@ -0,0 +1,4 @@ +{"id": 20334, "folder_dir": "FloorPlan223_physics/26", "pair_name": "0-1:ArmChair|-00.43|+00.01|+01.06", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ArmChair\nB. Window\nC. Plate\nD. Sofa", "answer": "A", "object_name": "ArmChair", "image_1": "FloorPlan223_physics/26/rgb_0.png", "image_2": "FloorPlan223_physics/26/rgb_1.png", "mask_image": "FloorPlan223_physics/26/rgb_1_mask_ArmChair|-00.43|+00.01|+01.06.png", "options": ["ArmChair", "Window", "Plate", "Sofa"]} +{"id": 20335, "folder_dir": "FloorPlan223_physics/26", "pair_name": "0-1:Sofa|-03.42|+00.01|-00.04", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. ArmChair\nB. Chair\nC. Laptop\nD. Sofa", "answer": "D", "object_name": "Sofa", "image_1": "FloorPlan223_physics/26/rgb_0.png", "image_2": "FloorPlan223_physics/26/rgb_1.png", "mask_image": "FloorPlan223_physics/26/rgb_1_mask_Sofa|-03.42|+00.01|-00.04.png", "options": ["ArmChair", "Chair", "Laptop", "Sofa"]} +{"id": 20336, "folder_dir": "FloorPlan223_physics/26", "pair_name": "0-1:CoffeeTable|-02.02|+00.01|+00.02", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CoffeeTable\nB. Window\nC. ArmChair\nD. Pillow", "answer": "A", "object_name": "CoffeeTable", "image_1": "FloorPlan223_physics/26/rgb_0.png", "image_2": "FloorPlan223_physics/26/rgb_1.png", "mask_image": "FloorPlan223_physics/26/rgb_1_mask_CoffeeTable|-02.02|+00.01|+00.02.png", "options": ["CoffeeTable", "Window", "ArmChair", "Pillow"]} +{"id": 20337, "folder_dir": "FloorPlan223_physics/26", "pair_name": "1-0:ArmChair|-00.43|+00.01|+01.06", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Television\nB. Sofa\nC. Statue\nD. ArmChair", "answer": "D", "object_name": "ArmChair", "image_1": "FloorPlan223_physics/26/rgb_1.png", "image_2": "FloorPlan223_physics/26/rgb_0.png", "mask_image": "FloorPlan223_physics/26/rgb_0_mask_ArmChair|-00.43|+00.01|+01.06.png", "options": ["Television", "Sofa", "Statue", "ArmChair"]} diff --git a/train/FloorPlan223_physics/26/questions_distance.jsonl b/train/FloorPlan223_physics/26/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48a0f2d9e05ef5a81245effa2df3ee851b761a75 --- /dev/null +++ b/train/FloorPlan223_physics/26/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 6009, "folder_dir": "FloorPlan223_physics/26", "query": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. HousePlant\nB. Laptop\nC. CoffeeTable\nD. Other\n", "answer": "B", "src_object": "Sofa", "target_object": "Laptop", "question": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "HousePlant", "semantic_id": "HousePlant|-03.58|+00.60|-01.62", "distance": 1.5846055507581764, "com": {"x": -3.6157047748565674, "y": 0.9319713711738586, "z": -1.5891475677490234}}, {"text": "Laptop", "semantic_id": "Laptop|-02.02|+00.45|-00.12", "distance": 1.4091148683934644, "com": {"x": -2.011923313140869, "y": 0.6075440645217896, "z": -0.1197483092546463}}, {"text": "CoffeeTable", "semantic_id": "CoffeeTable|-02.02|+00.01|+00.02", "distance": 1.4598880785936588, "com": {"x": -2.0229990482330322, "y": 0.2217133343219757, "z": 0.017372846603393555}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/26/rgb_0.png", "image_2": "FloorPlan223_physics/26/rgb_1.png"} diff --git a/train/FloorPlan223_physics/26/rgb_0.png b/train/FloorPlan223_physics/26/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..65ec090b668020759bfb5434d7c1808fade733a9 --- /dev/null +++ b/train/FloorPlan223_physics/26/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c5edce49ac4c639f94dfa7969cd82b0450257feb156d9175a739ea9aea28b1e +size 846793 diff --git a/train/FloorPlan223_physics/26/rgb_0_mask_ArmChair|-00.43|+00.01|+01.06.png b/train/FloorPlan223_physics/26/rgb_0_mask_ArmChair|-00.43|+00.01|+01.06.png new file mode 100644 index 0000000000000000000000000000000000000000..10aa50cca9208e4dd076a17c1c94ef00541c42fe --- /dev/null +++ b/train/FloorPlan223_physics/26/rgb_0_mask_ArmChair|-00.43|+00.01|+01.06.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf9f8870ff981b5a730066d2cab6cfdc359086514d63a53451dfccf7174d9d2c +size 735000 diff --git a/train/FloorPlan223_physics/26/rgb_1.png b/train/FloorPlan223_physics/26/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bc7d08f1c06ad42d47cc606d0bdbcad85a811c42 --- /dev/null +++ b/train/FloorPlan223_physics/26/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df296a11a3b07a3f0e856712b725e15bcc62d627195a5551dfa79526b7d752bc +size 827075 diff --git a/train/FloorPlan223_physics/26/rgb_1_mask_ArmChair|-00.43|+00.01|+01.06.png b/train/FloorPlan223_physics/26/rgb_1_mask_ArmChair|-00.43|+00.01|+01.06.png new file mode 100644 index 0000000000000000000000000000000000000000..c52830b23425a7afb9ed4d7bec8aa03741f3ec23 --- /dev/null +++ b/train/FloorPlan223_physics/26/rgb_1_mask_ArmChair|-00.43|+00.01|+01.06.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09a5d1c0a0f192861298f89c1bd131a35fa304b91c0b086c9f09f68668eb2b3a +size 662660 diff --git a/train/FloorPlan223_physics/26/rgb_1_mask_CoffeeTable|-02.02|+00.01|+00.02.png b/train/FloorPlan223_physics/26/rgb_1_mask_CoffeeTable|-02.02|+00.01|+00.02.png new file mode 100644 index 0000000000000000000000000000000000000000..87e59654e54764cdf46ca97e658cc739fc067953 --- /dev/null +++ b/train/FloorPlan223_physics/26/rgb_1_mask_CoffeeTable|-02.02|+00.01|+00.02.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8e1fcb019841c4b4ab6c7df5f5edade35a90703866ae2300c9bd4d97890cf4d +size 722706 diff --git a/train/FloorPlan223_physics/26/rgb_1_mask_Sofa|-03.42|+00.01|-00.04.png b/train/FloorPlan223_physics/26/rgb_1_mask_Sofa|-03.42|+00.01|-00.04.png new file mode 100644 index 0000000000000000000000000000000000000000..273693c1faedae4b5806189cc6f544d79d8efc4e --- /dev/null +++ b/train/FloorPlan223_physics/26/rgb_1_mask_Sofa|-03.42|+00.01|-00.04.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e06a38c5ed8300c3f3ca0e8e19e1fadc95e9fe64c8e37e073c75c1ba1afc73e4 +size 676054 diff --git a/train/FloorPlan223_physics/26/semantic_0.png b/train/FloorPlan223_physics/26/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..26dcdd9e2c04bcb27f163b291ac588d3b7d5977d Binary files /dev/null and b/train/FloorPlan223_physics/26/semantic_0.png differ diff --git a/train/FloorPlan223_physics/26/semantic_1.png b/train/FloorPlan223_physics/26/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..fc67dac6e495f766f34e4321ede35f96cb1fe4ba Binary files /dev/null and b/train/FloorPlan223_physics/26/semantic_1.png differ diff --git a/train/FloorPlan223_physics/27/0.json b/train/FloorPlan223_physics/27/0.json new file mode 100644 index 0000000000000000000000000000000000000000..3cbc2fc2490dcdf9c46365305f45e6ccbbc51b68 --- /dev/null +++ b/train/FloorPlan223_physics/27/0.json @@ -0,0 +1,2666 @@ +{ + "object": [ + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "object_info": { + "name": "GarbageCan_cf69fd43", + "position": { + "x": 0.29969024658203125, + "y": 7.18235969543457e-06, + "z": 1.2532256841659546 + }, + "rotation": { + "x": 0.0006593925645574927, + "y": 2.2150020599365234, + "z": -0.002282413886860013 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7383514642715454, + "objectType": "GarbageCan", + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4879261255264282, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.0650081634521484 + ] + ], + "center": { + "x": 0.2996993362903595, + "y": 0.32798317074775696, + "z": 1.2532281875610352 + }, + "size": { + "x": 0.37645357847213745, + "y": 0.6559673547744751, + "z": 0.37644004821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.49219784140586853, + -3.6668598113465123e-07, + 1.4313961267471313 + ], + [ + 0.12151965498924255, + 9.915489499690011e-06, + 1.4457334280014038 + ], + [ + 0.10718235373497009, + 1.3122078598826192e-05, + 1.0750552415847778 + ], + [ + 0.47786054015159607, + 2.839903572748881e-06, + 1.0607179403305054 + ], + [ + 0.49221622943878174, + 0.6559540033340454, + 1.431401014328003 + ], + [ + 0.12153804302215576, + 0.6559642553329468, + 1.4457383155822754 + ], + [ + 0.1072007417678833, + 0.6559674739837646, + 1.0750601291656494 + ], + [ + 0.4778789281845093, + 0.6559572219848633, + 1.060722827911377 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "object_info": { + "name": "LightSwitch_477ce142", + "position": { + "x": -3.9000000953674316, + "y": 1.284000039100647, + "z": 1.684000015258789 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.813469171524048, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.8669681549072266, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.64006507396698 + ] + ], + "center": { + "x": -3.883484125137329, + "y": 1.2851357460021973, + "z": 1.684000015258789 + }, + "size": { + "x": 0.03303194046020508, + "y": 0.1647193431854248, + "z": 0.08786988258361816 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|+01.44", + "object_info": { + "name": "SideTable_ef1b602c", + "position": { + "x": -3.5979855060577393, + "y": 0.004337579011917114, + "z": 1.4379733800888062 + }, + "rotation": { + "x": 359.8045959472656, + "y": -0.00013349241635296494, + "z": 359.9132080078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|-03.59|+00.60|+01.43" + ], + "distance": 3.5311872959136963, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|+01.44", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.4255571365356445, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.260542392730713 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.260542392730713 + ] + ], + "center": { + "x": -3.5956337451934814, + "y": 0.3019368052482605, + "z": 1.4354181289672852 + }, + "size": { + "x": 0.34015321731567383, + "y": 0.6039015054702759, + "z": 0.34975147247314453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425769567489624, + -0.000412600114941597, + 1.610532522201538 + ], + [ + -3.765719413757324, + 0.00010331394150853157, + 1.6105319261550903 + ], + [ + -3.7657206058502197, + -0.0010759038850665092, + 1.260555386543274 + ], + [ + -3.4257707595825195, + -0.0015918179415166378, + 1.2605559825897217 + ], + [ + -3.4248530864715576, + 0.6035022735595703, + 1.6084977388381958 + ], + [ + -3.764802932739258, + 0.6040182113647461, + 1.608497142791748 + ], + [ + -3.7648041248321533, + 0.6028389930725098, + 1.258520483970642 + ], + [ + -3.424854278564453, + 0.602323055267334, + 1.2585210800170898 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Statue|-03.59|+00.60|+01.43", + "object_info": { + "name": "Statue_b51b8ac3", + "position": { + "x": -3.591968536376953, + "y": 0.6028220653533936, + "z": 1.4310815334320068 + }, + "rotation": { + "x": 0.07878818362951279, + "y": 90.00411224365234, + "z": 359.8116455078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.4201130867004395, + "objectType": "Statue", + "objectId": "Statue|-03.59|+00.60|+01.43", + "assetId": "Towel_Statue_1", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|+01.44" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.5098624229431152, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.3489149808883667 + ] + ], + "center": { + "x": -3.5919289588928223, + "y": 0.8084835410118103, + "z": 1.4310238361358643 + }, + "size": { + "x": 0.16413307189941406, + "y": 0.4112800359725952, + "z": 0.16421771049499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.5099401473999023, + 0.6027724146842957, + 1.3490607738494873 + ], + [ + -3.5099236965179443, + 0.603306770324707, + 1.5131219625473022 + ], + [ + -3.673985004425049, + 0.6035440564155579, + 1.513137698173523 + ], + [ + -3.674001455307007, + 0.6030097007751465, + 1.349076509475708 + ], + [ + -3.509345769882202, + 1.0137324333190918, + 1.3477221727371216 + ], + [ + -3.509329319000244, + 1.014266848564148, + 1.5117833614349365 + ], + [ + -3.6733906269073486, + 1.0145041942596436, + 1.5117990970611572 + ], + [ + -3.6734070777893066, + 1.0139697790145874, + 1.3477379083633423 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.0, + "y": 0.9009991884231567, + "z": -1.3000000715255737 + }, + "agent_rotation": { + "x": -0.0, + "y": 328.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.0, + "y": 1.5759992599487305, + "z": -1.3000000715255737 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|+02.22|00.00|+00.15", + "Vase|+01.57|+00.78|-00.31", + "Chair|+02.29|00.00|-00.78", + "Vase|+01.84|+00.78|-00.30", + "Chair|+01.64|00.00|-00.85", + "Plate|+01.36|+00.78|-00.62", + "DiningTable|+01.88|+00.00|-00.29", + "Box|+01.27|+00.15|-00.29", + "Chair|+01.46|00.00|+00.20", + "ArmChair|-00.43|+00.01|+01.06" + ], + "different_object": [ + "Sofa|-03.42|+00.01|-00.04", + "SideTable|-03.60|+00.00|+01.44", + "LightSwitch|-03.90|+01.28|+01.68", + "GarbageCan|+00.30|+00.00|+01.25", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "Statue|-03.59|+00.60|+01.43" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/27/0_depth_npy.npy b/train/FloorPlan223_physics/27/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..46b132459b88f4a26015a42ec2f6be81dd9b6e1d --- /dev/null +++ b/train/FloorPlan223_physics/27/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bf05a969c380acffb4c481407ae470910ffe6678e86b6d52bc886fa7894c303 +size 3145856 diff --git a/train/FloorPlan223_physics/27/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/27/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..83e44524b839169c3555cdafccd23f8f0e312b31 --- /dev/null +++ b/train/FloorPlan223_physics/27/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec62477eeecd90cb0246e9176cf843aa224595e31002112f7b8207d620ea0d2a +size 2359424 diff --git a/train/FloorPlan223_physics/27/1.json b/train/FloorPlan223_physics/27/1.json new file mode 100644 index 0000000000000000000000000000000000000000..65990794ca88806fce60a398ce8ba8bdf94add15 --- /dev/null +++ b/train/FloorPlan223_physics/27/1.json @@ -0,0 +1,2206 @@ +{ + "object": [ + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "Window|+03.48|+01.51|-01.93", + "object_info": { + "name": "Window_dea94267", + "position": { + "x": 3.4800000190734863, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.463291168212891, + "objectType": "Window", + "objectId": "Window|+03.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.960000514984131, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.960000514984131, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -2.0399999618530273 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -2.0399999618530273 + ] + ], + "center": { + "x": 3.5, + "y": 1.0739160776138306, + "z": -1.9994010925292969 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.147834062576294, + "z": 0.08119773864746094 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "object_info": { + "name": "ArmChair_4b8c6e75", + "position": { + "x": -0.43700525164604187, + "y": 0.005729973316192627, + "z": 1.9230469465255737 + }, + "rotation": { + "x": 4.141504905419424e-05, + "y": 270.00018310546875, + "z": -0.0001669862394919619 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1221652030944824, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04723113775253296, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.04723113775253296, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 1.5481648445129395 + ] + ], + "center": { + "x": -0.43125927448272705, + "y": 0.3626064956188202, + "z": 1.9265482425689697 + }, + "size": { + "x": 0.7680562734603882, + "y": 0.7252018451690674, + "z": 0.7567667961120605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8153156042098999, + 1.087365671992302e-05, + 2.3049323558807373 + ], + [ + -0.8153178691864014, + 1.3908371329307556e-05, + 1.5481648445129395 + ], + [ + -0.04725685715675354, + 1.4075078070163727e-05, + 1.548162579536438 + ], + [ + -0.04725465178489685, + 1.104036346077919e-05, + 2.3049302101135254 + ], + [ + -0.8153157830238342, + 0.7252148985862732, + 2.3049352169036865 + ], + [ + -0.8153179883956909, + 0.7252179384231567, + 1.5481677055358887 + ], + [ + -0.04725700616836548, + 0.7252180576324463, + 1.5481654405593872 + ], + [ + -0.04725480079650879, + 0.7252150177955627, + 2.3049330711364746 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Painting|-00.06|+01.60|+01.73", + "object_info": { + "name": "Painting_9a6f96ff", + "position": { + "x": -0.0560000017285347, + "y": 1.6019999980926514, + "z": 1.7330000400543213 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9214128255844116, + "objectType": "Painting", + "objectId": "Painting|-00.06|+01.60|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.02334464341402054, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 2.0239996910095215, + 1.168489694595337 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 1.168489694595337 + ] + ], + "center": { + "x": -0.02120792120695114, + "y": 1.598686695098877, + "z": 1.7579162120819092 + }, + "size": { + "x": 0.08910512924194336, + "y": 0.8506259918212891, + "z": 1.1788530349731445 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Painting|+04.14|+01.59|-00.30", + "object_info": { + "name": "Painting_984aa9d5", + "position": { + "x": 4.136000156402588, + "y": 1.590999960899353, + "z": -0.296999990940094 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.696467399597168, + "objectType": "Painting", + "objectId": "Painting|+04.14|+01.59|-00.30", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.215344429016113, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.215344429016113, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 1.1690006256103516, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 1.1690006256103516, + -0.8613617420196533 + ] + ], + "center": { + "x": 4.170792102813721, + "y": 1.5914161205291748, + "z": -0.27200978994369507 + }, + "size": { + "x": 0.08910465240478516, + "y": 0.8448309898376465, + "z": 1.1787039041519165 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.100000023841858, + "y": 0.9009991884231567, + "z": -0.6000000238418579 + }, + "agent_rotation": { + "x": -0.0, + "y": 79.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.100000023841858, + "y": 1.5759992599487305, + "z": -0.6000000238418579 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|+02.22|00.00|+00.15", + "Vase|+01.57|+00.78|-00.31", + "Chair|+02.29|00.00|-00.78", + "Vase|+01.84|+00.78|-00.30", + "Chair|+01.64|00.00|-00.85", + "Plate|+01.36|+00.78|-00.62", + "DiningTable|+01.88|+00.00|-00.29", + "Box|+01.27|+00.15|-00.29", + "Chair|+01.46|00.00|+00.20", + "ArmChair|-00.43|+00.01|+01.06" + ], + "different_object": [ + "Painting|-00.06|+01.60|+01.73", + "ArmChair|-00.44|+00.01|+01.92", + "Window|+03.48|+01.51|-01.93", + "Painting|+04.14|+01.59|-00.30", + "Window|+01.48|+01.51|-01.93" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/27/1_depth_npy.npy b/train/FloorPlan223_physics/27/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..41663b1444f3650f777f26e13e36c0acf5bafad8 --- /dev/null +++ b/train/FloorPlan223_physics/27/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5014b56cb03563648cc8cd025f474ced1f8764f08d4b1b35fd4552db512455b +size 3145856 diff --git a/train/FloorPlan223_physics/27/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/27/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..383bc23306ff5cbb308bd4d2eb222c98ecedb6e5 --- /dev/null +++ b/train/FloorPlan223_physics/27/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce9528c43134a371516fb00935a273f89dad0a7888a13a9201414c481712faf7 +size 2359424 diff --git a/train/FloorPlan223_physics/27/depth_0.png b/train/FloorPlan223_physics/27/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..de463b096cf0154c68a7778f88b6bfb159495c9e Binary files /dev/null and b/train/FloorPlan223_physics/27/depth_0.png differ diff --git a/train/FloorPlan223_physics/27/depth_1.png b/train/FloorPlan223_physics/27/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d6b9850452676449a24acae7af1dbfcc312e101a Binary files /dev/null and b/train/FloorPlan223_physics/27/depth_1.png differ diff --git a/train/FloorPlan223_physics/27/mask_questions.jsonl b/train/FloorPlan223_physics/27/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4607e9a451ca8b2687e25c0ca7f36838337a8b69 --- /dev/null +++ b/train/FloorPlan223_physics/27/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 20385, "folder_dir": "FloorPlan223_physics/27", "pair_name": "0-1:Box|+01.27|+00.15|-00.29", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. SideTable\nC. Box\nD. CoffeeTable", "answer": "C", "object_name": "Box", "image_1": "FloorPlan223_physics/27/rgb_0.png", "image_2": "FloorPlan223_physics/27/rgb_1.png", "mask_image": "FloorPlan223_physics/27/rgb_1_mask_Box|+01.27|+00.15|-00.29.png", "options": ["Chair", "SideTable", "Box", "CoffeeTable"]} +{"id": 20386, "folder_dir": "FloorPlan223_physics/27", "pair_name": "1-0:Chair|+02.22|00.00|+00.15", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Vase\nC. Window\nD. Painting", "answer": "A", "object_name": "Chair", "image_1": "FloorPlan223_physics/27/rgb_1.png", "image_2": "FloorPlan223_physics/27/rgb_0.png", "mask_image": "FloorPlan223_physics/27/rgb_0_mask_Chair|+02.22|00.00|+00.15.png", "options": ["Chair", "Vase", "Window", "Painting"]} +{"id": 20387, "folder_dir": "FloorPlan223_physics/27", "pair_name": "1-0:Chair|+02.29|00.00|-00.78", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Painting\nC. Window\nD. Chair", "answer": "A", "object_name": "Chair", "image_1": "FloorPlan223_physics/27/rgb_1.png", "image_2": "FloorPlan223_physics/27/rgb_0.png", "mask_image": "FloorPlan223_physics/27/rgb_0_mask_Chair|+02.29|00.00|-00.78.png", "options": ["Chair", "Painting", "Window", "Chair"]} diff --git a/train/FloorPlan223_physics/27/questions_distance.jsonl b/train/FloorPlan223_physics/27/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..74059db6cdd1ba485d4107ab6887b3b459d474d4 --- /dev/null +++ b/train/FloorPlan223_physics/27/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 6020, "folder_dir": "FloorPlan223_physics/27", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Box\nB. GarbageCan\nC. Plate\nD. Other\n", "answer": "A", "src_object": "DiningTable", "target_object": "Box", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Box", "semantic_id": "Box|+01.27|+00.15|-00.29", "distance": 0.6851397287211983, "com": {"x": 1.2528727054595947, "y": 0.13431625068187714, "z": -0.365255743265152}}, {"text": "GarbageCan", "semantic_id": "GarbageCan|+00.30|+00.00|+01.25", "distance": 2.2139714883209467, "com": {"x": 0.2996993362903595, "y": 0.32798317074775696, "z": 1.2532281875610352}}, {"text": "Plate", "semantic_id": "Plate|+01.36|+00.78|-00.62", "distance": 0.7378836752432911, "com": {"x": 1.36051607131958, "y": 0.7897693514823914, "z": -0.6254259347915649}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/27/rgb_0.png", "image_2": "FloorPlan223_physics/27/rgb_1.png"} diff --git a/train/FloorPlan223_physics/27/rgb_0.png b/train/FloorPlan223_physics/27/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..aa06c9a082d73da2334dcf03707ebfb3192a86f0 --- /dev/null +++ b/train/FloorPlan223_physics/27/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ba2d3ad2f83a908d082d37f4c7e182acdc59bcb68649a93c8d1118d17546497 +size 825893 diff --git a/train/FloorPlan223_physics/27/rgb_0_mask_Chair|+02.22|00.00|+00.15.png b/train/FloorPlan223_physics/27/rgb_0_mask_Chair|+02.22|00.00|+00.15.png new file mode 100644 index 0000000000000000000000000000000000000000..d7e43ee2a9e80a9decc9f008e7c3241520706f4e --- /dev/null +++ b/train/FloorPlan223_physics/27/rgb_0_mask_Chair|+02.22|00.00|+00.15.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb46056afe24feaf903538e7b48765a4fdfe4f4c721de60d45d39e705bbeec1a +size 723172 diff --git a/train/FloorPlan223_physics/27/rgb_0_mask_Chair|+02.29|00.00|-00.78.png b/train/FloorPlan223_physics/27/rgb_0_mask_Chair|+02.29|00.00|-00.78.png new file mode 100644 index 0000000000000000000000000000000000000000..a23772b94d0d14ad283b01646ed56bef44cdc6c7 --- /dev/null +++ b/train/FloorPlan223_physics/27/rgb_0_mask_Chair|+02.29|00.00|-00.78.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2240c27e0b60f4b5957b75bf25e0478cb841045473ec157910523a0188890ca1 +size 720478 diff --git a/train/FloorPlan223_physics/27/rgb_1.png b/train/FloorPlan223_physics/27/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..0ac2af962b7fdc05c91c27dace85b6346645698f --- /dev/null +++ b/train/FloorPlan223_physics/27/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4b52192e776077c500771705911c3639334c0aa00adc21f2f6b608aad6f2f7d +size 858307 diff --git a/train/FloorPlan223_physics/27/rgb_1_mask_Box|+01.27|+00.15|-00.29.png b/train/FloorPlan223_physics/27/rgb_1_mask_Box|+01.27|+00.15|-00.29.png new file mode 100644 index 0000000000000000000000000000000000000000..aa792531cbc1108553afc22791c89d15811a750d --- /dev/null +++ b/train/FloorPlan223_physics/27/rgb_1_mask_Box|+01.27|+00.15|-00.29.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:813ee1346bb120c7c77c4886b17e281a5f8777f219a5b469046068e8da1cd1ba +size 747025 diff --git a/train/FloorPlan223_physics/27/semantic_0.png b/train/FloorPlan223_physics/27/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..26d2099f3de9636d3118ed550d65b8ec58ec27a5 Binary files /dev/null and b/train/FloorPlan223_physics/27/semantic_0.png differ diff --git a/train/FloorPlan223_physics/27/semantic_1.png b/train/FloorPlan223_physics/27/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..eeb9a4656c888a9210cbb3b51c6848090735d984 Binary files /dev/null and b/train/FloorPlan223_physics/27/semantic_1.png differ diff --git a/train/FloorPlan223_physics/32/0.json b/train/FloorPlan223_physics/32/0.json new file mode 100644 index 0000000000000000000000000000000000000000..11d2d4a8efb3bdd6d2350d07244ebaac0e380fae --- /dev/null +++ b/train/FloorPlan223_physics/32/0.json @@ -0,0 +1,2255 @@ +{ + "object": [ + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "object_info": { + "name": "ArmChair_4b8c6e75", + "position": { + "x": -0.43700525164604187, + "y": 0.005729973316192627, + "z": 1.9230469465255737 + }, + "rotation": { + "x": 4.141504905419424e-05, + "y": 270.00018310546875, + "z": -0.0001669862394919619 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1221652030944824, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04723113775253296, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.04723113775253296, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 1.5481648445129395 + ] + ], + "center": { + "x": -0.43125927448272705, + "y": 0.3626064956188202, + "z": 1.9265482425689697 + }, + "size": { + "x": 0.7680562734603882, + "y": 0.7252018451690674, + "z": 0.7567667961120605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8153156042098999, + 1.087365671992302e-05, + 2.3049323558807373 + ], + [ + -0.8153178691864014, + 1.3908371329307556e-05, + 1.5481648445129395 + ], + [ + -0.04725685715675354, + 1.4075078070163727e-05, + 1.548162579536438 + ], + [ + -0.04725465178489685, + 1.104036346077919e-05, + 2.3049302101135254 + ], + [ + -0.8153157830238342, + 0.7252148985862732, + 2.3049352169036865 + ], + [ + -0.8153179883956909, + 0.7252179384231567, + 1.5481677055358887 + ], + [ + -0.04725700616836548, + 0.7252180576324463, + 1.5481654405593872 + ], + [ + -0.04725480079650879, + 0.7252150177955627, + 2.3049330711364746 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "Painting|-00.06|+01.60|+01.73", + "object_info": { + "name": "Painting_9a6f96ff", + "position": { + "x": -0.0560000017285347, + "y": 1.6019999980926514, + "z": 1.7330000400543213 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9214128255844116, + "objectType": "Painting", + "objectId": "Painting|-00.06|+01.60|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.02334464341402054, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 2.0239996910095215, + 1.168489694595337 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 1.168489694595337 + ] + ], + "center": { + "x": -0.02120792120695114, + "y": 1.598686695098877, + "z": 1.7579162120819092 + }, + "size": { + "x": 0.08910512924194336, + "y": 0.8506259918212891, + "z": 1.1788530349731445 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.200000047683716, + "y": 0.9009991884231567, + "z": 2.299999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 156.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.200000047683716, + "y": 1.5759992599487305, + "z": 2.299999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DiningTable|+01.88|+00.00|-00.29", + "Painting|-00.06|+01.60|+01.73", + "ArmChair|-00.44|+00.01|+01.92", + "ArmChair|-00.43|+00.01|+01.06" + ], + "different_object": [ + "Sofa|-03.42|+00.01|-00.04", + "Chair|+01.64|00.00|-00.85", + "Plate|+01.36|+00.78|-00.62", + "ArmChair|-02.01|+00.01|-01.58", + "Pillow|-01.93|+00.37|-01.49", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "HousePlant|-03.58|+00.60|-01.62", + "Box|+01.27|+00.15|-00.29", + "Window|-02.00|+01.51|-01.93", + "Window|+01.48|+01.51|-01.93" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/32/0_depth_npy.npy b/train/FloorPlan223_physics/32/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a73fc5cd6311694c3927f54403abd058a328de1b --- /dev/null +++ b/train/FloorPlan223_physics/32/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45416a6173fd1998e6664972da2bc7d138b27989c212bcd4eed6a3c0d31b894c +size 3145856 diff --git a/train/FloorPlan223_physics/32/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/32/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..552c5c9a708ee74d11c95fe366bdffa6031ff4be --- /dev/null +++ b/train/FloorPlan223_physics/32/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:776abd4888c8f39aa93d331dc9266e8d02e5206d9fb31d93d85a2b3de99b4247 +size 2359424 diff --git a/train/FloorPlan223_physics/32/1.json b/train/FloorPlan223_physics/32/1.json new file mode 100644 index 0000000000000000000000000000000000000000..249291d2e1209f54bad992199f186f0cc1da6aa6 --- /dev/null +++ b/train/FloorPlan223_physics/32/1.json @@ -0,0 +1,1202 @@ +{ + "object": [ + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "object_info": { + "name": "FloorLamp_3964945b", + "position": { + "x": -0.33106115460395813, + "y": 0.0020943880081176758, + "z": 2.728121280670166 + }, + "rotation": { + "x": 0.028233468532562256, + "y": 359.9642333984375, + "z": 0.0124844741076231 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.8773627281188965, + "objectType": "FloorLamp", + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "assetId": "Floor_Lamp_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07376223802566528, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.470034599304199 + ] + ], + "center": { + "x": -0.33205798268318176, + "y": 0.9319358468055725, + "z": 2.7284581661224365 + }, + "size": { + "x": 0.516591489315033, + "y": 1.8638250827789307, + "z": 0.5168471336364746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.07385668158531189, + 4.743225872516632e-05, + 2.9870007038116455 + ], + [ + -0.5905872583389282, + -2.8995331376791e-05, + 2.986692190170288 + ], + [ + -0.5902788639068604, + 0.00010942760854959488, + 2.4699525833129883 + ], + [ + -0.0735483169555664, + 0.00018585508223623037, + 2.4702610969543457 + ], + [ + -0.07413265109062195, + 1.8638358116149902, + 2.987499713897705 + ], + [ + -0.5908632278442383, + 1.8637592792510986, + 2.9871912002563477 + ], + [ + -0.5905548334121704, + 1.8638978004455566, + 2.470451593399048 + ], + [ + -0.07382425665855408, + 1.8639740943908691, + 2.4707601070404053 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "object_info": { + "name": "ArmChair_4b8c6e75", + "position": { + "x": -0.43700525164604187, + "y": 0.005729973316192627, + "z": 1.9230469465255737 + }, + "rotation": { + "x": 4.141504905419424e-05, + "y": 270.00018310546875, + "z": -0.0001669862394919619 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1221652030944824, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04723113775253296, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.04723113775253296, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 1.5481648445129395 + ] + ], + "center": { + "x": -0.43125927448272705, + "y": 0.3626064956188202, + "z": 1.9265482425689697 + }, + "size": { + "x": 0.7680562734603882, + "y": 0.7252018451690674, + "z": 0.7567667961120605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8153156042098999, + 1.087365671992302e-05, + 2.3049323558807373 + ], + [ + -0.8153178691864014, + 1.3908371329307556e-05, + 1.5481648445129395 + ], + [ + -0.04725685715675354, + 1.4075078070163727e-05, + 1.548162579536438 + ], + [ + -0.04725465178489685, + 1.104036346077919e-05, + 2.3049302101135254 + ], + [ + -0.8153157830238342, + 0.7252148985862732, + 2.3049352169036865 + ], + [ + -0.8153179883956909, + 0.7252179384231567, + 1.5481677055358887 + ], + [ + -0.04725700616836548, + 0.7252180576324463, + 1.5481654405593872 + ], + [ + -0.04725480079650879, + 0.7252150177955627, + 2.3049330711364746 + ] + ] + } + } + }, + { + "objectId": "Painting|-00.06|+01.60|+01.73", + "object_info": { + "name": "Painting_9a6f96ff", + "position": { + "x": -0.0560000017285347, + "y": 1.6019999980926514, + "z": 1.7330000400543213 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9214128255844116, + "objectType": "Painting", + "objectId": "Painting|-00.06|+01.60|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.02334464341402054, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 2.0239996910095215, + 1.168489694595337 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 1.168489694595337 + ] + ], + "center": { + "x": -0.02120792120695114, + "y": 1.598686695098877, + "z": 1.7579162120819092 + }, + "size": { + "x": 0.08910512924194336, + "y": 0.8506259918212891, + "z": 1.1788530349731445 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|+04.14|+01.59|-00.30", + "object_info": { + "name": "Painting_984aa9d5", + "position": { + "x": 4.136000156402588, + "y": 1.590999960899353, + "z": -0.296999990940094 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.696467399597168, + "objectType": "Painting", + "objectId": "Painting|+04.14|+01.59|-00.30", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.215344429016113, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.215344429016113, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 1.1690006256103516, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 1.1690006256103516, + -0.8613617420196533 + ] + ], + "center": { + "x": 4.170792102813721, + "y": 1.5914161205291748, + "z": -0.27200978994369507 + }, + "size": { + "x": 0.08910465240478516, + "y": 0.8448309898376465, + "z": 1.1787039041519165 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.0, + "y": 0.9009991884231567, + "z": 0.6000000238418579 + }, + "agent_rotation": { + "x": -0.0, + "y": 52.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.0, + "y": 1.5759992599487305, + "z": 0.6000000238418579 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "DiningTable|+01.88|+00.00|-00.29", + "Painting|-00.06|+01.60|+01.73", + "ArmChair|-00.44|+00.01|+01.92", + "ArmChair|-00.43|+00.01|+01.06" + ], + "different_object": [ + "Chair|+02.22|00.00|+00.15", + "Painting|+04.14|+01.59|-00.30", + "Chair|+01.46|00.00|+00.20", + "FloorLamp|-00.33|+00.00|+02.73" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/32/1_depth_npy.npy b/train/FloorPlan223_physics/32/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..53c52eae3e8821a201121a2963fb023cec9b415a --- /dev/null +++ b/train/FloorPlan223_physics/32/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8028a6435603e12d46d77fb42feb14b82206bdd9c8efb022d71e71d891d1d229 +size 3145856 diff --git a/train/FloorPlan223_physics/32/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/32/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8b193b2612a603dc15ac4c3e8658ce8d22791e4c --- /dev/null +++ b/train/FloorPlan223_physics/32/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afbd21b7fe964978ad7379b6c056c92d47084ba24a97ae5edab046e91fc7bf12 +size 2359424 diff --git a/train/FloorPlan223_physics/32/depth_0.png b/train/FloorPlan223_physics/32/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..92a5f80168f288cc4589727ca9addce7022b902c Binary files /dev/null and b/train/FloorPlan223_physics/32/depth_0.png differ diff --git a/train/FloorPlan223_physics/32/depth_1.png b/train/FloorPlan223_physics/32/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..577a226477c28c56bab3f7aa3746fbaec4b95c2a Binary files /dev/null and b/train/FloorPlan223_physics/32/depth_1.png differ diff --git a/train/FloorPlan223_physics/32/mask_questions.jsonl b/train/FloorPlan223_physics/32/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54219bbdb0c2643ce5ab81584b9032998c64560e --- /dev/null +++ b/train/FloorPlan223_physics/32/mask_questions.jsonl @@ -0,0 +1,6 @@ +{"id": 20325, "folder_dir": "FloorPlan223_physics/32", "pair_name": "0-1:Painting|-00.06|+01.60|+01.73", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. Painting\nC. DiningTable\nD. ArmChair", "answer": "B", "object_name": "Painting", "image_1": "FloorPlan223_physics/32/rgb_0.png", "image_2": "FloorPlan223_physics/32/rgb_1.png", "mask_image": "FloorPlan223_physics/32/rgb_1_mask_Painting|-00.06|+01.60|+01.73.png", "options": ["Window", "Painting", "DiningTable", "ArmChair"]} +{"id": 20326, "folder_dir": "FloorPlan223_physics/32", "pair_name": "0-1:ArmChair|-00.44|+00.01|+01.92", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Box\nB. DiningTable\nC. ArmChair\nD. Plate", "answer": "C", "object_name": "ArmChair", "image_1": "FloorPlan223_physics/32/rgb_0.png", "image_2": "FloorPlan223_physics/32/rgb_1.png", "mask_image": "FloorPlan223_physics/32/rgb_1_mask_ArmChair|-00.44|+00.01|+01.92.png", "options": ["Box", "DiningTable", "ArmChair", "Plate"]} +{"id": 20327, "folder_dir": "FloorPlan223_physics/32", "pair_name": "0-1:ArmChair|-00.43|+00.01|+01.06", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. ArmChair\nC. HousePlant\nD. Box", "answer": "B", "object_name": "ArmChair", "image_1": "FloorPlan223_physics/32/rgb_0.png", "image_2": "FloorPlan223_physics/32/rgb_1.png", "mask_image": "FloorPlan223_physics/32/rgb_1_mask_ArmChair|-00.43|+00.01|+01.06.png", "options": ["DiningTable", "ArmChair", "HousePlant", "Box"]} +{"id": 20328, "folder_dir": "FloorPlan223_physics/32", "pair_name": "1-0:Painting|-00.06|+01.60|+01.73", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. Chair\nC. Chair\nD. Painting", "answer": "D", "object_name": "Painting", "image_1": "FloorPlan223_physics/32/rgb_1.png", "image_2": "FloorPlan223_physics/32/rgb_0.png", "mask_image": "FloorPlan223_physics/32/rgb_0_mask_Painting|-00.06|+01.60|+01.73.png", "options": ["DiningTable", "Chair", "Chair", "Painting"]} +{"id": 20329, "folder_dir": "FloorPlan223_physics/32", "pair_name": "1-0:ArmChair|-00.44|+00.01|+01.92", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. FloorLamp\nC. ArmChair\nD. Painting", "answer": "C", "object_name": "ArmChair", "image_1": "FloorPlan223_physics/32/rgb_1.png", "image_2": "FloorPlan223_physics/32/rgb_0.png", "mask_image": "FloorPlan223_physics/32/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png", "options": ["DiningTable", "FloorLamp", "ArmChair", "Painting"]} +{"id": 20330, "folder_dir": "FloorPlan223_physics/32", "pair_name": "1-0:ArmChair|-00.43|+00.01|+01.06", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. ArmChair\nC. Chair\nD. DiningTable", "answer": "B", "object_name": "ArmChair", "image_1": "FloorPlan223_physics/32/rgb_1.png", "image_2": "FloorPlan223_physics/32/rgb_0.png", "mask_image": "FloorPlan223_physics/32/rgb_0_mask_ArmChair|-00.43|+00.01|+01.06.png", "options": ["Painting", "ArmChair", "Chair", "DiningTable"]} diff --git a/train/FloorPlan223_physics/32/rgb_0.png b/train/FloorPlan223_physics/32/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..0758fd142d88eed21e787bd6155785f545277a25 --- /dev/null +++ b/train/FloorPlan223_physics/32/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5878ff2f6e880e4881190a75aed025f8f947825dbc3b214395706a915aacbc1 +size 890554 diff --git a/train/FloorPlan223_physics/32/rgb_0_mask_ArmChair|-00.43|+00.01|+01.06.png b/train/FloorPlan223_physics/32/rgb_0_mask_ArmChair|-00.43|+00.01|+01.06.png new file mode 100644 index 0000000000000000000000000000000000000000..ee6048194f16088be0fa7031cf46ab5384abac36 --- /dev/null +++ b/train/FloorPlan223_physics/32/rgb_0_mask_ArmChair|-00.43|+00.01|+01.06.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01288eeabf0967ef3010c6fa326663bf537ed584a9f8bae4d6e97e276f5d938e +size 712026 diff --git a/train/FloorPlan223_physics/32/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png b/train/FloorPlan223_physics/32/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png new file mode 100644 index 0000000000000000000000000000000000000000..533b60aaf9abedf75e611b495b04b87793a17ea4 --- /dev/null +++ b/train/FloorPlan223_physics/32/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95bdc2dc4ce221906bf2cb4893ca5b547b3780e9e24bc05ff79484739bf7dfb9 +size 738279 diff --git a/train/FloorPlan223_physics/32/rgb_0_mask_Painting|-00.06|+01.60|+01.73.png b/train/FloorPlan223_physics/32/rgb_0_mask_Painting|-00.06|+01.60|+01.73.png new file mode 100644 index 0000000000000000000000000000000000000000..f253dfee8e0618b01b3dbfef0ece46f5a0a4a919 --- /dev/null +++ b/train/FloorPlan223_physics/32/rgb_0_mask_Painting|-00.06|+01.60|+01.73.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8fa32bbde06604333cc3de574167d8bcb30cf0181b9ef229213cf5c79d5e983 +size 745458 diff --git a/train/FloorPlan223_physics/32/rgb_1.png b/train/FloorPlan223_physics/32/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..282fb6f7869b6e1b1799af07c0ac232b5dd74944 --- /dev/null +++ b/train/FloorPlan223_physics/32/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:155501b1776a3e67322fafdcd1fcad1085de9af9f98183b00912baca8268d439 +size 816529 diff --git a/train/FloorPlan223_physics/32/rgb_1_mask_ArmChair|-00.43|+00.01|+01.06.png b/train/FloorPlan223_physics/32/rgb_1_mask_ArmChair|-00.43|+00.01|+01.06.png new file mode 100644 index 0000000000000000000000000000000000000000..351428b97de4ddfe0ce3aeec5e53af0cd3446668 --- /dev/null +++ b/train/FloorPlan223_physics/32/rgb_1_mask_ArmChair|-00.43|+00.01|+01.06.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c345974a5856c00e9f7ca122efa44502380557e1bc8817922cb764271327640 +size 673275 diff --git a/train/FloorPlan223_physics/32/rgb_1_mask_ArmChair|-00.44|+00.01|+01.92.png b/train/FloorPlan223_physics/32/rgb_1_mask_ArmChair|-00.44|+00.01|+01.92.png new file mode 100644 index 0000000000000000000000000000000000000000..67fcd4cbde170679b756c598b3322623289d5b8c --- /dev/null +++ b/train/FloorPlan223_physics/32/rgb_1_mask_ArmChair|-00.44|+00.01|+01.92.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:768eb61c00de64300ee45020ce71f738106d9cae44aa43167b2994d6173551d4 +size 648609 diff --git a/train/FloorPlan223_physics/32/rgb_1_mask_Painting|-00.06|+01.60|+01.73.png b/train/FloorPlan223_physics/32/rgb_1_mask_Painting|-00.06|+01.60|+01.73.png new file mode 100644 index 0000000000000000000000000000000000000000..d2b6ec463c72a4b355371f28725792ec67fb1824 --- /dev/null +++ b/train/FloorPlan223_physics/32/rgb_1_mask_Painting|-00.06|+01.60|+01.73.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1900839b2e257e5e5ff9a204c4734ee8c9a7b7906fe589fc3939f86b212ae68 +size 668124 diff --git a/train/FloorPlan223_physics/32/semantic_0.png b/train/FloorPlan223_physics/32/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..8934c3373ece841f31e7b35e42b65444cd6bb3cb Binary files /dev/null and b/train/FloorPlan223_physics/32/semantic_0.png differ diff --git a/train/FloorPlan223_physics/32/semantic_1.png b/train/FloorPlan223_physics/32/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..56d430569c77534fd58615c4267a8be4b613407e Binary files /dev/null and b/train/FloorPlan223_physics/32/semantic_1.png differ diff --git a/train/FloorPlan223_physics/33/0.json b/train/FloorPlan223_physics/33/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f447e7d8f1b5589527df4c718de46179bf23a234 --- /dev/null +++ b/train/FloorPlan223_physics/33/0.json @@ -0,0 +1,2623 @@ +{ + "object": [ + { + "objectId": "Statue|-02.04|+00.24|+02.75", + "object_info": { + "name": "Statue_2147f514", + "position": { + "x": -2.0441362857818604, + "y": 0.2397981435060501, + "z": 2.7487399578094482 + }, + "rotation": { + "x": 0.5867406129837036, + "y": 359.98504638671875, + "z": 0.9680944681167603 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Stone" + ], + "receptacleObjectIds": null, + "distance": 3.221353054046631, + "objectType": "Statue", + "objectId": "Statue|-02.04|+00.24|+02.75", + "assetId": "Dog_Statue_4", + "parentReceptacles": [ + "DiningTable|-01.86|+00.23|+02.79", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.9340085983276367, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.7116007804870605 + ] + ], + "center": { + "x": -2.067904472351074, + "y": 0.33797669410705566, + "z": 2.777303695678711 + }, + "size": { + "x": 0.267791748046875, + "y": 0.20818185806274414, + "z": 0.13140583038330078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.932020902633667, + 0.23496071994304657, + 2.8412842750549316 + ], + [ + -2.2012362480163574, + 0.23041173815727234, + 2.841167449951172 + ], + [ + -2.201202392578125, + 0.2317402958869934, + 2.711437225341797 + ], + [ + -1.9319870471954346, + 0.23628926277160645, + 2.7115540504455566 + ], + [ + -1.9355692863464355, + 0.44490715861320496, + 2.843433380126953 + ], + [ + -2.204784631729126, + 0.44035816192626953, + 2.8433165550231934 + ], + [ + -2.2047507762908936, + 0.4416867196559906, + 2.7135863304138184 + ], + [ + -1.9355354309082031, + 0.446235716342926, + 2.713703155517578 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "object_info": { + "name": "FloorLamp_3964945b", + "position": { + "x": -0.33106115460395813, + "y": 0.0020943880081176758, + "z": 2.728121280670166 + }, + "rotation": { + "x": 0.028233468532562256, + "y": 359.9642333984375, + "z": 0.0124844741076231 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.8773627281188965, + "objectType": "FloorLamp", + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "assetId": "Floor_Lamp_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07376223802566528, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.470034599304199 + ] + ], + "center": { + "x": -0.33205798268318176, + "y": 0.9319358468055725, + "z": 2.7284581661224365 + }, + "size": { + "x": 0.516591489315033, + "y": 1.8638250827789307, + "z": 0.5168471336364746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.07385668158531189, + 4.743225872516632e-05, + 2.9870007038116455 + ], + [ + -0.5905872583389282, + -2.8995331376791e-05, + 2.986692190170288 + ], + [ + -0.5902788639068604, + 0.00010942760854959488, + 2.4699525833129883 + ], + [ + -0.0735483169555664, + 0.00018585508223623037, + 2.4702610969543457 + ], + [ + -0.07413265109062195, + 1.8638358116149902, + 2.987499713897705 + ], + [ + -0.5908632278442383, + 1.8637592792510986, + 2.9871912002563477 + ], + [ + -0.5905548334121704, + 1.8638978004455566, + 2.470451593399048 + ], + [ + -0.07382425665855408, + 1.8639740943908691, + 2.4707601070404053 + ] + ] + } + } + }, + { + "objectId": "Candle|-01.54|+00.23|+02.74", + "object_info": { + "name": "Candle_f40c2f5f", + "position": { + "x": -1.536789894104004, + "y": 0.2342444658279419, + "z": 2.7418534755706787 + }, + "rotation": { + "x": 0.09415348619222641, + "y": 359.6438903808594, + "z": 0.19696395099163055 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Wax" + ], + "receptacleObjectIds": null, + "distance": 3.0062029361724854, + "objectType": "Candle", + "objectId": "Candle|-01.54|+00.23|+02.74", + "assetId": "Candle_6", + "parentReceptacles": [ + "DiningTable|-01.86|+00.23|+02.79", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5155794620513916, + 0.40167558193206787, + 2.7630717754364014 + ], + [ + -1.5155794620513916, + 0.40167558193206787, + 2.7206437587738037 + ], + [ + -1.5155794620513916, + 0.23379802703857422, + 2.7630717754364014 + ], + [ + -1.5155794620513916, + 0.23379802703857422, + 2.7206437587738037 + ], + [ + -1.5580174922943115, + 0.40167558193206787, + 2.7630717754364014 + ], + [ + -1.5580174922943115, + 0.40167558193206787, + 2.7206437587738037 + ], + [ + -1.5580174922943115, + 0.23379802703857422, + 2.7630717754364014 + ], + [ + -1.5580174922943115, + 0.23379802703857422, + 2.7206437587738037 + ] + ], + "center": { + "x": -1.5367984771728516, + "y": 0.31773680448532104, + "z": 2.7418577671051025 + }, + "size": { + "x": 0.04243803024291992, + "y": 0.16787755489349365, + "z": 0.042428016662597656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.515762448310852, + 0.2339225858449936, + 2.7631423473358154 + ], + [ + -1.5580779314041138, + 0.23377712070941925, + 2.7628791332244873 + ], + [ + -1.5578149557113647, + 0.23384664952754974, + 2.7205634117126465 + ], + [ + -1.5154993534088135, + 0.23399212956428528, + 2.7208266258239746 + ], + [ + -1.516340970993042, + 0.401713490486145, + 2.7634143829345703 + ], + [ + -1.5586564540863037, + 0.4015679955482483, + 2.763151168823242 + ], + [ + -1.5583934783935547, + 0.40163755416870117, + 2.7208356857299805 + ], + [ + -1.5160778760910034, + 0.4017830193042755, + 2.7210988998413086 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "object_info": { + "name": "DiningTable_42373f1f", + "position": { + "x": -1.8579727411270142, + "y": 0.2316993921995163, + "z": 2.7878525257110596 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75" + ], + "distance": 3.172408103942871, + "objectType": "DiningTable", + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.353766918182373, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.6145288944244385 + ] + ], + "center": { + "x": -1.8579730987548828, + "y": 0.27928826212882996, + "z": 2.787849187850952 + }, + "size": { + "x": 1.0084123611450195, + "y": 0.09547990560531616, + "z": 0.34664058685302734 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "object_info": { + "name": "RemoteControl_09703e97", + "position": { + "x": -2.2912778854370117, + "y": 0.7151373624801636, + "z": 2.7494349479675293 + }, + "rotation": { + "x": 359.9211120605469, + "y": 0.35118886828422546, + "z": 359.98101806640625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.2867329120635986, + "objectType": "RemoteControl", + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "assetId": "Remote_3", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.256807565689087, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.6374101638793945 + ] + ], + "center": { + "x": -2.290771484375, + "y": 0.7245430946350098, + "z": 2.7473092079162598 + }, + "size": { + "x": 0.06792783737182617, + "y": 0.02184438705444336, + "z": 0.21979808807373047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.256814479827881, + 0.7139212489128113, + 2.8567938804626465 + ], + [ + -2.3244235515594482, + 0.713943600654602, + 2.857208251953125 + ], + [ + -2.325768232345581, + 0.7136415839195251, + 2.6378211975097656 + ], + [ + -2.2581591606140137, + 0.7136191725730896, + 2.637406826019287 + ], + [ + -2.256807565689087, + 0.7354427576065063, + 2.856764078140259 + ], + [ + -2.3244166374206543, + 0.7354651689529419, + 2.8571784496307373 + ], + [ + -2.325761318206787, + 0.735163152217865, + 2.637791633605957 + ], + [ + -2.2581522464752197, + 0.7351407408714294, + 2.6373772621154785 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "object_info": { + "name": "ArmChair_4b8c6e75", + "position": { + "x": -0.43700525164604187, + "y": 0.005729973316192627, + "z": 1.9230469465255737 + }, + "rotation": { + "x": 4.141504905419424e-05, + "y": 270.00018310546875, + "z": -0.0001669862394919619 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1221652030944824, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04723113775253296, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.04723113775253296, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 1.5481648445129395 + ] + ], + "center": { + "x": -0.43125927448272705, + "y": 0.3626064956188202, + "z": 1.9265482425689697 + }, + "size": { + "x": 0.7680562734603882, + "y": 0.7252018451690674, + "z": 0.7567667961120605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8153156042098999, + 1.087365671992302e-05, + 2.3049323558807373 + ], + [ + -0.8153178691864014, + 1.3908371329307556e-05, + 1.5481648445129395 + ], + [ + -0.04725685715675354, + 1.4075078070163727e-05, + 1.548162579536438 + ], + [ + -0.04725465178489685, + 1.104036346077919e-05, + 2.3049302101135254 + ], + [ + -0.8153157830238342, + 0.7252148985862732, + 2.3049352169036865 + ], + [ + -0.8153179883956909, + 0.7252179384231567, + 1.5481677055358887 + ], + [ + -0.04725700616836548, + 0.7252180576324463, + 1.5481654405593872 + ], + [ + -0.04725480079650879, + 0.7252150177955627, + 2.3049330711364746 + ] + ] + } + } + }, + { + "objectId": "TVStand|-01.86|+00.00|+02.79", + "object_info": { + "name": "TVStand_3ce96f2f", + "position": { + "x": -1.8579983711242676, + "y": 0.00039079785346984863, + "z": 2.787977933883667 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Television|-01.86|+01.20|+02.70", + "RemoteControl|-02.29|+00.71|+02.75" + ], + "distance": 3.2292532920837402, + "objectType": "TVStand", + "objectId": "TVStand|-01.86|+00.00|+02.79", + "assetId": "TV_Stand_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3527679443359375, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -1.3527679443359375, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.6121463775634766 + ] + ], + "center": { + "x": -1.8609373569488525, + "y": 0.35679537057876587, + "z": 2.7879385948181152 + }, + "size": { + "x": 1.01633882522583, + "y": 0.7136019468307495, + "z": 0.35158443450927734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.3528119325637817, + 2.9323389753699303e-05, + 2.963749408721924 + ], + [ + -2.3691158294677734, + 7.576588541269302e-05, + 2.9637136459350586 + ], + [ + -2.36910343170166, + 3.9373175241053104e-05, + 2.61221981048584 + ], + [ + -1.352799654006958, + -7.069320417940617e-06, + 2.612255334854126 + ], + [ + -1.3527793884277344, + 0.7135501503944397, + 2.9636754989624023 + ], + [ + -2.3690831661224365, + 0.7135965824127197, + 2.963639736175537 + ], + [ + -2.3690710067749023, + 0.7135602235794067, + 2.6121459007263184 + ], + [ + -1.352766990661621, + 0.7135137915611267, + 2.6121814250946045 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "Painting|-00.06|+01.60|+01.73", + "object_info": { + "name": "Painting_9a6f96ff", + "position": { + "x": -0.0560000017285347, + "y": 1.6019999980926514, + "z": 1.7330000400543213 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9214128255844116, + "objectType": "Painting", + "objectId": "Painting|-00.06|+01.60|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.02334464341402054, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 2.0239996910095215, + 1.168489694595337 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 1.168489694595337 + ] + ], + "center": { + "x": -0.02120792120695114, + "y": 1.598686695098877, + "z": 1.7579162120819092 + }, + "size": { + "x": 0.08910512924194336, + "y": 0.8506259918212891, + "z": 1.1788530349731445 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|-01.86|+01.20|+02.70", + "object_info": { + "name": "Television_430e1f04", + "position": { + "x": -1.8597434759140015, + "y": 1.200732946395874, + "z": 2.7014834880828857 + }, + "rotation": { + "x": 359.06036376953125, + "y": 179.99822998046875, + "z": -0.0007116764318197966 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.03920316696167, + "objectType": "Television", + "objectId": "Television|-01.86|+01.20|+02.70", + "assetId": "Television_23", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.359736442565918, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.594604730606079 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.594604730606079 + ] + ], + "center": { + "x": -1.8597421646118164, + "y": 1.1164844036102295, + "z": 2.7694149017333984 + }, + "size": { + "x": 1.0000114440917969, + "y": 0.8063507080078125, + "z": 0.34962034225463867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.359734058380127, + 0.7141113877296448, + 2.589648723602295 + ], + [ + -1.3597339391708374, + 0.7141237854957581, + 2.5896799564361572 + ], + [ + -1.359744906425476, + 0.7083142399787903, + 2.9438905715942383 + ], + [ + -2.3597450256347656, + 0.708301842212677, + 2.943859577178955 + ], + [ + -2.3597443103790283, + 1.5198802947998047, + 2.6028645038604736 + ], + [ + -1.3597443103790283, + 1.519892692565918, + 2.602895736694336 + ], + [ + -1.359755277633667, + 1.5140831470489502, + 2.957106351852417 + ], + [ + -2.359755277633667, + 1.514070749282837, + 2.9570751190185547 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -0.8999999761581421, + "y": 0.9009991884231567, + "z": -1.3000000715255737 + }, + "agent_rotation": { + "x": -0.0, + "y": 10.999999046325684, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -0.8999999761581421, + "y": 1.5759992599487305, + "z": -1.3000000715255737 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|+02.22|00.00|+00.15", + "Sofa|-03.42|+00.01|-00.04", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "DiningTable|+01.88|+00.00|-00.29", + "Box|+01.27|+00.15|-00.29", + "Chair|+01.46|00.00|+00.20", + "ArmChair|-00.43|+00.01|+01.06" + ], + "different_object": [ + "RemoteControl|-02.29|+00.71|+02.75", + "Painting|-00.06|+01.60|+01.73", + "ArmChair|-00.44|+00.01|+01.92", + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75", + "Television|-01.86|+01.20|+02.70", + "DiningTable|-01.86|+00.23|+02.79", + "TVStand|-01.86|+00.00|+02.79", + "FloorLamp|-00.33|+00.00|+02.73" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/33/0_depth_npy.npy b/train/FloorPlan223_physics/33/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..78d6a7f17b718d75877ab45abeef4ad2ccabcbd8 --- /dev/null +++ b/train/FloorPlan223_physics/33/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:316e1c0b72f56a9d728e46f5fc1557fb5e0b0b9343587152448a8ec4211c6a5f +size 3145856 diff --git a/train/FloorPlan223_physics/33/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/33/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d3ce0446d0824d8d3df0544154fa66a61b7426de --- /dev/null +++ b/train/FloorPlan223_physics/33/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:832a74da78ee34eb5a1e1580f476a28a8b86b3c0bf8c040051db2d97d564b8b6 +size 2359424 diff --git a/train/FloorPlan223_physics/33/1.json b/train/FloorPlan223_physics/33/1.json new file mode 100644 index 0000000000000000000000000000000000000000..182c05a2e92b3cb9ae8163cf8662442f3763e36e --- /dev/null +++ b/train/FloorPlan223_physics/33/1.json @@ -0,0 +1,3297 @@ +{ + "object": [ + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "object_info": { + "name": "GarbageCan_cf69fd43", + "position": { + "x": 0.29969024658203125, + "y": 7.18235969543457e-06, + "z": 1.2532256841659546 + }, + "rotation": { + "x": 0.0006593925645574927, + "y": 2.2150020599365234, + "z": -0.002282413886860013 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7383514642715454, + "objectType": "GarbageCan", + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4879261255264282, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.0650081634521484 + ] + ], + "center": { + "x": 0.2996993362903595, + "y": 0.32798317074775696, + "z": 1.2532281875610352 + }, + "size": { + "x": 0.37645357847213745, + "y": 0.6559673547744751, + "z": 0.37644004821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.49219784140586853, + -3.6668598113465123e-07, + 1.4313961267471313 + ], + [ + 0.12151965498924255, + 9.915489499690011e-06, + 1.4457334280014038 + ], + [ + 0.10718235373497009, + 1.3122078598826192e-05, + 1.0750552415847778 + ], + [ + 0.47786054015159607, + 2.839903572748881e-06, + 1.0607179403305054 + ], + [ + 0.49221622943878174, + 0.6559540033340454, + 1.431401014328003 + ], + [ + 0.12153804302215576, + 0.6559642553329468, + 1.4457383155822754 + ], + [ + 0.1072007417678833, + 0.6559674739837646, + 1.0750601291656494 + ], + [ + 0.4778789281845093, + 0.6559572219848633, + 1.060722827911377 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "object_info": { + "name": "LightSwitch_477ce142", + "position": { + "x": -3.9000000953674316, + "y": 1.284000039100647, + "z": 1.684000015258789 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.813469171524048, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.8669681549072266, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.64006507396698 + ] + ], + "center": { + "x": -3.883484125137329, + "y": 1.2851357460021973, + "z": 1.684000015258789 + }, + "size": { + "x": 0.03303194046020508, + "y": 0.1647193431854248, + "z": 0.08786988258361816 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|+01.44", + "object_info": { + "name": "SideTable_ef1b602c", + "position": { + "x": -3.5979855060577393, + "y": 0.004337579011917114, + "z": 1.4379733800888062 + }, + "rotation": { + "x": 359.8045959472656, + "y": -0.00013349241635296494, + "z": 359.9132080078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|-03.59|+00.60|+01.43" + ], + "distance": 3.5311872959136963, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|+01.44", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.4255571365356445, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.260542392730713 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.260542392730713 + ] + ], + "center": { + "x": -3.5956337451934814, + "y": 0.3019368052482605, + "z": 1.4354181289672852 + }, + "size": { + "x": 0.34015321731567383, + "y": 0.6039015054702759, + "z": 0.34975147247314453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425769567489624, + -0.000412600114941597, + 1.610532522201538 + ], + [ + -3.765719413757324, + 0.00010331394150853157, + 1.6105319261550903 + ], + [ + -3.7657206058502197, + -0.0010759038850665092, + 1.260555386543274 + ], + [ + -3.4257707595825195, + -0.0015918179415166378, + 1.2605559825897217 + ], + [ + -3.4248530864715576, + 0.6035022735595703, + 1.6084977388381958 + ], + [ + -3.764802932739258, + 0.6040182113647461, + 1.608497142791748 + ], + [ + -3.7648041248321533, + 0.6028389930725098, + 1.258520483970642 + ], + [ + -3.424854278564453, + 0.602323055267334, + 1.2585210800170898 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "Statue|-03.59|+00.60|+01.43", + "object_info": { + "name": "Statue_b51b8ac3", + "position": { + "x": -3.591968536376953, + "y": 0.6028220653533936, + "z": 1.4310815334320068 + }, + "rotation": { + "x": 0.07878818362951279, + "y": 90.00411224365234, + "z": 359.8116455078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.4201130867004395, + "objectType": "Statue", + "objectId": "Statue|-03.59|+00.60|+01.43", + "assetId": "Towel_Statue_1", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|+01.44" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.5098624229431152, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.3489149808883667 + ] + ], + "center": { + "x": -3.5919289588928223, + "y": 0.8084835410118103, + "z": 1.4310238361358643 + }, + "size": { + "x": 0.16413307189941406, + "y": 0.4112800359725952, + "z": 0.16421771049499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.5099401473999023, + 0.6027724146842957, + 1.3490607738494873 + ], + [ + -3.5099236965179443, + 0.603306770324707, + 1.5131219625473022 + ], + [ + -3.673985004425049, + 0.6035440564155579, + 1.513137698173523 + ], + [ + -3.674001455307007, + 0.6030097007751465, + 1.349076509475708 + ], + [ + -3.509345769882202, + 1.0137324333190918, + 1.3477221727371216 + ], + [ + -3.509329319000244, + 1.014266848564148, + 1.5117833614349365 + ], + [ + -3.6733906269073486, + 1.0145041942596436, + 1.5117990970611572 + ], + [ + -3.6734070777893066, + 1.0139697790145874, + 1.3477379083633423 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|-01.61", + "object_info": { + "name": "SideTable_32f926b8", + "position": { + "x": -3.597963809967041, + "y": 0.004360944032669067, + "z": -1.6070078611373901 + }, + "rotation": { + "x": 0.003428330644965172, + "y": 0.002825607778504491, + "z": 359.70733642578125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|-03.58|+00.60|-01.62" + ], + "distance": 3.6033060550689697, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|-01.61", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.425083637237549, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.425083637237549, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.7844332456588745 + ] + ], + "center": { + "x": -3.5953938961029053, + "y": 0.3019649386405945, + "z": -1.6094589233398438 + }, + "size": { + "x": 0.3406205177307129, + "y": 0.6039294004440308, + "z": 0.3499486446380615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425757646560669, + -0.0015295855700969696, + -1.434476375579834 + ], + [ + -3.7657032012939453, + 0.0001298254355788231, + -1.4344571828842163 + ], + [ + -3.76572322845459, + 6.832834333181381e-05, + -1.7844345569610596 + ], + [ + -3.4257779121398926, + -0.0015910826623439789, + -1.7844538688659668 + ], + [ + -3.4228098392486572, + 0.6023802757263184, + -1.4345827102661133 + ], + [ + -3.7627553939819336, + 0.6040396690368652, + -1.4345635175704956 + ], + [ + -3.762775421142578, + 0.603978157043457, + -1.7845408916473389 + ], + [ + -3.4228298664093018, + 0.6023187637329102, + -1.7845600843429565 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 3.5, + "y": 0.9009991884231567, + "z": -1.600000023841858 + }, + "agent_rotation": { + "x": -0.0, + "y": 323.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.5, + "y": 1.5759992599487305, + "z": -1.600000023841858 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|+02.22|00.00|+00.15", + "Sofa|-03.42|+00.01|-00.04", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "DiningTable|+01.88|+00.00|-00.29", + "Box|+01.27|+00.15|-00.29", + "Chair|+01.46|00.00|+00.20", + "ArmChair|-00.43|+00.01|+01.06" + ], + "different_object": [ + "Vase|+01.57|+00.78|-00.31", + "SideTable|-03.60|+00.00|+01.44", + "LightSwitch|-03.90|+01.28|+01.68", + "GarbageCan|+00.30|+00.00|+01.25", + "Vase|+01.84|+00.78|-00.30", + "Chair|+01.64|00.00|-00.85", + "Pillow|-01.93|+00.37|-01.49", + "ArmChair|-02.01|+00.01|-01.58", + "Plate|+01.36|+00.78|-00.62", + "SideTable|-03.60|+00.00|-01.61", + "HousePlant|-03.58|+00.60|-01.62", + "Statue|-03.59|+00.60|+01.43", + "Chair|+02.29|00.00|-00.78" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/33/1_depth_npy.npy b/train/FloorPlan223_physics/33/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..77ab6af8b931e4abb697b5ec97788ea2055c12e7 --- /dev/null +++ b/train/FloorPlan223_physics/33/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a9100032c6f2986bf272f3eaafd8db3fa2c41b7956676843f8a7310ba6906d0 +size 3145856 diff --git a/train/FloorPlan223_physics/33/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/33/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..645cfbf334bc17bd5cf922cfc02a2a847f00d3ac --- /dev/null +++ b/train/FloorPlan223_physics/33/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5eecd01656ece514ab8b1f007e659a567dc28df79dbc9956770da9d27631cee +size 2359424 diff --git a/train/FloorPlan223_physics/33/depth_0.png b/train/FloorPlan223_physics/33/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e54079b35716d2dbbd5e50ab69a0a854ea2fcc02 Binary files /dev/null and b/train/FloorPlan223_physics/33/depth_0.png differ diff --git a/train/FloorPlan223_physics/33/depth_1.png b/train/FloorPlan223_physics/33/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..96c72f0bd4debc220f574a384f4badcca2c2871a Binary files /dev/null and b/train/FloorPlan223_physics/33/depth_1.png differ diff --git a/train/FloorPlan223_physics/33/mask_questions.jsonl b/train/FloorPlan223_physics/33/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..92659375759dc4395d0e364399e5cba20629eeae --- /dev/null +++ b/train/FloorPlan223_physics/33/mask_questions.jsonl @@ -0,0 +1,4 @@ +{"id": 20341, "folder_dir": "FloorPlan223_physics/33", "pair_name": "0-1:Chair|+02.22|00.00|+00.15", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Sofa\nB. RemoteControl\nC. Chair\nD. ArmChair", "answer": "C", "object_name": "Chair", "image_1": "FloorPlan223_physics/33/rgb_0.png", "image_2": "FloorPlan223_physics/33/rgb_1.png", "mask_image": "FloorPlan223_physics/33/rgb_1_mask_Chair|+02.22|00.00|+00.15.png", "options": ["Sofa", "RemoteControl", "Chair", "ArmChair"]} +{"id": 20342, "folder_dir": "FloorPlan223_physics/33", "pair_name": "1-0:Chair|+02.22|00.00|+00.15", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pillow\nB. Sofa\nC. Chair\nD. Plate", "answer": "C", "object_name": "Chair", "image_1": "FloorPlan223_physics/33/rgb_1.png", "image_2": "FloorPlan223_physics/33/rgb_0.png", "mask_image": "FloorPlan223_physics/33/rgb_0_mask_Chair|+02.22|00.00|+00.15.png", "options": ["Pillow", "Sofa", "Chair", "Plate"]} +{"id": 20343, "folder_dir": "FloorPlan223_physics/33", "pair_name": "1-0:Sofa|-03.42|+00.01|-00.04", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pillow\nB. Chair\nC. Sofa\nD. Vase", "answer": "C", "object_name": "Sofa", "image_1": "FloorPlan223_physics/33/rgb_1.png", "image_2": "FloorPlan223_physics/33/rgb_0.png", "mask_image": "FloorPlan223_physics/33/rgb_0_mask_Sofa|-03.42|+00.01|-00.04.png", "options": ["Pillow", "Chair", "Sofa", "Vase"]} +{"id": 20344, "folder_dir": "FloorPlan223_physics/33", "pair_name": "1-0:Box|+01.27|+00.15|-00.29", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Box\nB. LightSwitch\nC. Vase\nD. Chair", "answer": "A", "object_name": "Box", "image_1": "FloorPlan223_physics/33/rgb_1.png", "image_2": "FloorPlan223_physics/33/rgb_0.png", "mask_image": "FloorPlan223_physics/33/rgb_0_mask_Box|+01.27|+00.15|-00.29.png", "options": ["Box", "LightSwitch", "Vase", "Chair"]} diff --git a/train/FloorPlan223_physics/33/questions_distance.jsonl b/train/FloorPlan223_physics/33/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc7723ad9687f69ae3ff5091f0f9f61b50e74449 --- /dev/null +++ b/train/FloorPlan223_physics/33/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 6012, "folder_dir": "FloorPlan223_physics/33", "query": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. HousePlant\nB. CoffeeTable\nC. Laptop\nD. Other\n", "answer": "C", "src_object": "Sofa", "target_object": "Laptop", "question": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "HousePlant", "semantic_id": "HousePlant|-03.58|+00.60|-01.62", "distance": 1.5846055507581764, "com": {"x": -3.6157047748565674, "y": 0.9319713711738586, "z": -1.5891475677490234}}, {"text": "CoffeeTable", "semantic_id": "CoffeeTable|-02.02|+00.01|+00.02", "distance": 1.4598880785936588, "com": {"x": -2.0229990482330322, "y": 0.2217133343219757, "z": 0.017372846603393555}}, {"text": "Laptop", "semantic_id": "Laptop|-02.02|+00.45|-00.12", "distance": 1.4091148683934644, "com": {"x": -2.011923313140869, "y": 0.6075440645217896, "z": -0.1197483092546463}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/33/rgb_0.png", "image_2": "FloorPlan223_physics/33/rgb_1.png"} +{"id": 6013, "folder_dir": "FloorPlan223_physics/33", "query": "Which of the following objects is closest to CoffeeTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pillow\nB. Sofa\nC. Laptop\nD. Other\n", "answer": "C", "src_object": "CoffeeTable", "target_object": "Laptop", "question": "Which of the following objects is closest to CoffeeTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Pillow", "semantic_id": "Pillow|-01.93|+00.37|-01.49", "distance": 1.51671650155918, "com": {"x": -1.91756272315979, "y": 0.37403398752212524, "z": -1.487987756729126}}, {"text": "Sofa", "semantic_id": "Sofa|-03.42|+00.01|-00.04", "distance": 1.4598880785936588, "com": {"x": -3.4184064865112305, "y": 0.646526575088501, "z": -0.04300093650817871}}, {"text": "Laptop", "semantic_id": "Laptop|-02.02|+00.45|-00.12", "distance": 0.4096220644181636, "com": {"x": -2.011923313140869, "y": 0.6075440645217896, "z": -0.1197483092546463}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/33/rgb_0.png", "image_2": "FloorPlan223_physics/33/rgb_1.png"} diff --git a/train/FloorPlan223_physics/33/rgb_0.png b/train/FloorPlan223_physics/33/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..64b921c855e630b9a68ffd91006c643fa09fe18e --- /dev/null +++ b/train/FloorPlan223_physics/33/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fbc34bd90c82e7e518f8c4394bcffab7dea0c38e7b6a4698db74b6dee99055a +size 833624 diff --git a/train/FloorPlan223_physics/33/rgb_0_mask_Box|+01.27|+00.15|-00.29.png b/train/FloorPlan223_physics/33/rgb_0_mask_Box|+01.27|+00.15|-00.29.png new file mode 100644 index 0000000000000000000000000000000000000000..091547efb46a9e2d937eadd9247331198169103d --- /dev/null +++ b/train/FloorPlan223_physics/33/rgb_0_mask_Box|+01.27|+00.15|-00.29.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09870839b03708dde02b09118b016a030a5e86037cbb526e555543b664e2e450 +size 728470 diff --git a/train/FloorPlan223_physics/33/rgb_0_mask_Chair|+02.22|00.00|+00.15.png b/train/FloorPlan223_physics/33/rgb_0_mask_Chair|+02.22|00.00|+00.15.png new file mode 100644 index 0000000000000000000000000000000000000000..3c0fc46ee9582d651aef24f9c292ae7380c995cb --- /dev/null +++ b/train/FloorPlan223_physics/33/rgb_0_mask_Chair|+02.22|00.00|+00.15.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:641cb2a57888b89e3b1bc70a0bd9d654e48b75b4579522a1e079216f4aeaa28f +size 722558 diff --git a/train/FloorPlan223_physics/33/rgb_0_mask_Sofa|-03.42|+00.01|-00.04.png b/train/FloorPlan223_physics/33/rgb_0_mask_Sofa|-03.42|+00.01|-00.04.png new file mode 100644 index 0000000000000000000000000000000000000000..3669f5800d15d2c36ff563ad3e14e7d14f0bb696 --- /dev/null +++ b/train/FloorPlan223_physics/33/rgb_0_mask_Sofa|-03.42|+00.01|-00.04.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e6a7382c60d280c489566e2768a4d0566f8c7bb0da6bb73d1f1faf108546423 +size 721829 diff --git a/train/FloorPlan223_physics/33/rgb_1.png b/train/FloorPlan223_physics/33/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..70d84f0871f8c8ab65c7337e81ce885c3ceb3cda --- /dev/null +++ b/train/FloorPlan223_physics/33/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:969620beb909bc157275884b28fa918c027d966c7a944aa354bb28e2eb81f761 +size 838396 diff --git a/train/FloorPlan223_physics/33/rgb_1_mask_Chair|+02.22|00.00|+00.15.png b/train/FloorPlan223_physics/33/rgb_1_mask_Chair|+02.22|00.00|+00.15.png new file mode 100644 index 0000000000000000000000000000000000000000..a4f2ae3c41c544ae2c6142c4277914fd448b2a3c --- /dev/null +++ b/train/FloorPlan223_physics/33/rgb_1_mask_Chair|+02.22|00.00|+00.15.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e99cc4034d5e6768ff74dfde45951ad25bdc758745ccb9464ba0ce8bf7b04c3 +size 727349 diff --git a/train/FloorPlan223_physics/33/semantic_0.png b/train/FloorPlan223_physics/33/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..5a0109d3a3b1c8c31c083794e7091ba9ca01280e Binary files /dev/null and b/train/FloorPlan223_physics/33/semantic_0.png differ diff --git a/train/FloorPlan223_physics/33/semantic_1.png b/train/FloorPlan223_physics/33/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d3371bbce562aa0ed96e13988ea03b4222d965a2 Binary files /dev/null and b/train/FloorPlan223_physics/33/semantic_1.png differ diff --git a/train/FloorPlan223_physics/34/0.json b/train/FloorPlan223_physics/34/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2539895b93be76d0fd7a3baaf1f8f1f2e0ee70f9 --- /dev/null +++ b/train/FloorPlan223_physics/34/0.json @@ -0,0 +1,3353 @@ +{ + "object": [ + { + "objectId": "WateringCan|-03.25|00.00|-01.86", + "object_info": { + "name": "WateringCan_31a595df", + "position": { + "x": -3.2522449493408203, + "y": -0.0008590668439865112, + "z": -1.8618444204330444 + }, + "rotation": { + "x": -0.0003620765928644687, + "y": -0.000614947231952101, + "z": 0.0007242992869578302 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.4430603981018066, + "objectType": "WateringCan", + "objectId": "WateringCan|-03.25|00.00|-01.86", + "assetId": "Watering_Can_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.176553726196289, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.9819858074188232 + ] + ], + "center": { + "x": -3.2522456645965576, + "y": 0.09692596644163132, + "z": -1.8485687971115112 + }, + "size": { + "x": 0.1513838768005371, + "y": 0.19385077059268951, + "z": 0.266834020614624 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1765549182891846, + 5.470355972647667e-07, + -1.715149998664856 + ], + [ + -3.3279380798339844, + -6.129266694188118e-07, + -1.7151516675949097 + ], + [ + -3.327935218811035, + -1.2035015970468521e-06, + -1.9819879531860352 + ], + [ + -3.1765518188476562, + -4.353933036327362e-08, + -1.9819862842559814 + ], + [ + -3.176556348800659, + 0.19385217130184174, + -1.7151503562927246 + ], + [ + -3.327939510345459, + 0.19385100901126862, + -1.7151521444320679 + ], + [ + -3.3279366493225098, + 0.19385041296482086, + -1.9819884300231934 + ], + [ + -3.17655348777771, + 0.19385157525539398, + -1.9819867610931396 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "object_info": { + "name": "GarbageCan_cf69fd43", + "position": { + "x": 0.29969024658203125, + "y": 7.18235969543457e-06, + "z": 1.2532256841659546 + }, + "rotation": { + "x": 0.0006593925645574927, + "y": 2.2150020599365234, + "z": -0.002282413886860013 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7383514642715454, + "objectType": "GarbageCan", + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4879261255264282, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.0650081634521484 + ] + ], + "center": { + "x": 0.2996993362903595, + "y": 0.32798317074775696, + "z": 1.2532281875610352 + }, + "size": { + "x": 0.37645357847213745, + "y": 0.6559673547744751, + "z": 0.37644004821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.49219784140586853, + -3.6668598113465123e-07, + 1.4313961267471313 + ], + [ + 0.12151965498924255, + 9.915489499690011e-06, + 1.4457334280014038 + ], + [ + 0.10718235373497009, + 1.3122078598826192e-05, + 1.0750552415847778 + ], + [ + 0.47786054015159607, + 2.839903572748881e-06, + 1.0607179403305054 + ], + [ + 0.49221622943878174, + 0.6559540033340454, + 1.431401014328003 + ], + [ + 0.12153804302215576, + 0.6559642553329468, + 1.4457383155822754 + ], + [ + 0.1072007417678833, + 0.6559674739837646, + 1.0750601291656494 + ], + [ + 0.4778789281845093, + 0.6559572219848633, + 1.060722827911377 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "object_info": { + "name": "LightSwitch_477ce142", + "position": { + "x": -3.9000000953674316, + "y": 1.284000039100647, + "z": 1.684000015258789 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.813469171524048, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.8669681549072266, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.64006507396698 + ] + ], + "center": { + "x": -3.883484125137329, + "y": 1.2851357460021973, + "z": 1.684000015258789 + }, + "size": { + "x": 0.03303194046020508, + "y": 0.1647193431854248, + "z": 0.08786988258361816 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|+01.44", + "object_info": { + "name": "SideTable_ef1b602c", + "position": { + "x": -3.5979855060577393, + "y": 0.004337579011917114, + "z": 1.4379733800888062 + }, + "rotation": { + "x": 359.8045959472656, + "y": -0.00013349241635296494, + "z": 359.9132080078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|-03.59|+00.60|+01.43" + ], + "distance": 3.5311872959136963, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|+01.44", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.4255571365356445, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.260542392730713 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.260542392730713 + ] + ], + "center": { + "x": -3.5956337451934814, + "y": 0.3019368052482605, + "z": 1.4354181289672852 + }, + "size": { + "x": 0.34015321731567383, + "y": 0.6039015054702759, + "z": 0.34975147247314453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425769567489624, + -0.000412600114941597, + 1.610532522201538 + ], + [ + -3.765719413757324, + 0.00010331394150853157, + 1.6105319261550903 + ], + [ + -3.7657206058502197, + -0.0010759038850665092, + 1.260555386543274 + ], + [ + -3.4257707595825195, + -0.0015918179415166378, + 1.2605559825897217 + ], + [ + -3.4248530864715576, + 0.6035022735595703, + 1.6084977388381958 + ], + [ + -3.764802932739258, + 0.6040182113647461, + 1.608497142791748 + ], + [ + -3.7648041248321533, + 0.6028389930725098, + 1.258520483970642 + ], + [ + -3.424854278564453, + 0.602323055267334, + 1.2585210800170898 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "Statue|-03.59|+00.60|+01.43", + "object_info": { + "name": "Statue_b51b8ac3", + "position": { + "x": -3.591968536376953, + "y": 0.6028220653533936, + "z": 1.4310815334320068 + }, + "rotation": { + "x": 0.07878818362951279, + "y": 90.00411224365234, + "z": 359.8116455078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.4201130867004395, + "objectType": "Statue", + "objectId": "Statue|-03.59|+00.60|+01.43", + "assetId": "Towel_Statue_1", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|+01.44" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.5098624229431152, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.3489149808883667 + ] + ], + "center": { + "x": -3.5919289588928223, + "y": 0.8084835410118103, + "z": 1.4310238361358643 + }, + "size": { + "x": 0.16413307189941406, + "y": 0.4112800359725952, + "z": 0.16421771049499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.5099401473999023, + 0.6027724146842957, + 1.3490607738494873 + ], + [ + -3.5099236965179443, + 0.603306770324707, + 1.5131219625473022 + ], + [ + -3.673985004425049, + 0.6035440564155579, + 1.513137698173523 + ], + [ + -3.674001455307007, + 0.6030097007751465, + 1.349076509475708 + ], + [ + -3.509345769882202, + 1.0137324333190918, + 1.3477221727371216 + ], + [ + -3.509329319000244, + 1.014266848564148, + 1.5117833614349365 + ], + [ + -3.6733906269073486, + 1.0145041942596436, + 1.5117990970611572 + ], + [ + -3.6734070777893066, + 1.0139697790145874, + 1.3477379083633423 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|-01.61", + "object_info": { + "name": "SideTable_32f926b8", + "position": { + "x": -3.597963809967041, + "y": 0.004360944032669067, + "z": -1.6070078611373901 + }, + "rotation": { + "x": 0.003428330644965172, + "y": 0.002825607778504491, + "z": 359.70733642578125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|-03.58|+00.60|-01.62" + ], + "distance": 3.6033060550689697, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|-01.61", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.425083637237549, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.425083637237549, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.7844332456588745 + ] + ], + "center": { + "x": -3.5953938961029053, + "y": 0.3019649386405945, + "z": -1.6094589233398438 + }, + "size": { + "x": 0.3406205177307129, + "y": 0.6039294004440308, + "z": 0.3499486446380615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425757646560669, + -0.0015295855700969696, + -1.434476375579834 + ], + [ + -3.7657032012939453, + 0.0001298254355788231, + -1.4344571828842163 + ], + [ + -3.76572322845459, + 6.832834333181381e-05, + -1.7844345569610596 + ], + [ + -3.4257779121398926, + -0.0015910826623439789, + -1.7844538688659668 + ], + [ + -3.4228098392486572, + 0.6023802757263184, + -1.4345827102661133 + ], + [ + -3.7627553939819336, + 0.6040396690368652, + -1.4345635175704956 + ], + [ + -3.762775421142578, + 0.603978157043457, + -1.7845408916473389 + ], + [ + -3.4228298664093018, + 0.6023187637329102, + -1.7845600843429565 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 2.4000000953674316, + "y": 0.9009991884231567, + "z": -1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 292.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.4000000953674316, + "y": 1.5759992599487305, + "z": -1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Vase|+01.57|+00.78|-00.31", + "Vase|+01.84|+00.78|-00.30", + "Plate|+01.36|+00.78|-00.62", + "DiningTable|+01.88|+00.00|-00.29", + "Chair|+01.46|00.00|+00.20" + ], + "different_object": [ + "WateringCan|-03.25|00.00|-01.86", + "Sofa|-03.42|+00.01|-00.04", + "SideTable|-03.60|+00.00|+01.44", + "LightSwitch|-03.90|+01.28|+01.68", + "GarbageCan|+00.30|+00.00|+01.25", + "Chair|+01.64|00.00|-00.85", + "Pillow|-01.93|+00.37|-01.49", + "ArmChair|-02.01|+00.01|-01.58", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "SideTable|-03.60|+00.00|-01.61", + "Window|+01.48|+01.51|-01.93", + "HousePlant|-03.58|+00.60|-01.62", + "Box|+01.27|+00.15|-00.29", + "Window|-02.00|+01.51|-01.93", + "Statue|-03.59|+00.60|+01.43", + "ArmChair|-00.43|+00.01|+01.06" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/34/0_depth_npy.npy b/train/FloorPlan223_physics/34/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8c93a4efae1500147e6613509a76cfab0d608205 --- /dev/null +++ b/train/FloorPlan223_physics/34/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe2297df75500e847d7788bdc93d87f5c405c6fdb4719e7b5911fc74f42708a6 +size 3145856 diff --git a/train/FloorPlan223_physics/34/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/34/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..69d8c57bb4eb278a8ec1ab9c9a75cfa90e78d4f3 --- /dev/null +++ b/train/FloorPlan223_physics/34/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2afffb17ea2c8b80af4c1d2e88b072fec6dda69d764c6b0204ef55b1613973f9 +size 2359424 diff --git a/train/FloorPlan223_physics/34/1.json b/train/FloorPlan223_physics/34/1.json new file mode 100644 index 0000000000000000000000000000000000000000..fc4d8ce29d9e8c71689fc5762aa4a1d112f79ac1 --- /dev/null +++ b/train/FloorPlan223_physics/34/1.json @@ -0,0 +1,1250 @@ +{ + "object": [ + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Painting|+04.14|+01.59|-00.30", + "object_info": { + "name": "Painting_984aa9d5", + "position": { + "x": 4.136000156402588, + "y": 1.590999960899353, + "z": -0.296999990940094 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.696467399597168, + "objectType": "Painting", + "objectId": "Painting|+04.14|+01.59|-00.30", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.215344429016113, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.215344429016113, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 1.1690006256103516, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 1.1690006256103516, + -0.8613617420196533 + ] + ], + "center": { + "x": 4.170792102813721, + "y": 1.5914161205291748, + "z": -0.27200978994369507 + }, + "size": { + "x": 0.08910465240478516, + "y": 0.8448309898376465, + "z": 1.1787039041519165 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 2.0, + "y": 0.9009991884231567, + "z": -1.7000000476837158 + }, + "agent_rotation": { + "x": -0.0, + "y": 27.000001907348633, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.0, + "y": 1.5759992599487305, + "z": -1.7000000476837158 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Vase|+01.57|+00.78|-00.31", + "Vase|+01.84|+00.78|-00.30", + "Plate|+01.36|+00.78|-00.62", + "DiningTable|+01.88|+00.00|-00.29", + "Chair|+01.46|00.00|+00.20" + ], + "different_object": [ + "Chair|+02.22|00.00|+00.15", + "Painting|+04.14|+01.59|-00.30", + "Chair|+02.29|00.00|-00.78" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/34/1_depth_npy.npy b/train/FloorPlan223_physics/34/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..05e1e1b2373b5ed6a7db5b1180945119e58cd02f --- /dev/null +++ b/train/FloorPlan223_physics/34/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3460ebc5fea07b22b7b5bfa3c73220959a38048cbdfda67d919a35e44130b04 +size 3145856 diff --git a/train/FloorPlan223_physics/34/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/34/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..48c91772fbd06c4c0eebbaf4ac40a4746cee9a84 --- /dev/null +++ b/train/FloorPlan223_physics/34/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:711c270867d8f17f2002732d1601eeacb46981b471f42c3d0f7dc19be83d33b5 +size 2359424 diff --git a/train/FloorPlan223_physics/34/depth_0.png b/train/FloorPlan223_physics/34/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2c1e99249a4eba000aab7989aa92ab1456abad5b Binary files /dev/null and b/train/FloorPlan223_physics/34/depth_0.png differ diff --git a/train/FloorPlan223_physics/34/depth_1.png b/train/FloorPlan223_physics/34/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..3527d257456affac4332e6f2992eb71e440acc6f Binary files /dev/null and b/train/FloorPlan223_physics/34/depth_1.png differ diff --git a/train/FloorPlan223_physics/34/mask_questions.jsonl b/train/FloorPlan223_physics/34/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d534145ee65ecd165e8624ca82c7f242862f116 --- /dev/null +++ b/train/FloorPlan223_physics/34/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 20367, "folder_dir": "FloorPlan223_physics/34", "pair_name": "0-1:Vase|+01.57|+00.78|-00.31", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Laptop\nB. Vase\nC. Vase\nD. SideTable", "answer": "B", "object_name": "Vase", "image_1": "FloorPlan223_physics/34/rgb_0.png", "image_2": "FloorPlan223_physics/34/rgb_1.png", "mask_image": "FloorPlan223_physics/34/rgb_1_mask_Vase|+01.57|+00.78|-00.31.png", "options": ["Laptop", "Vase", "Vase", "SideTable"]} +{"id": 20368, "folder_dir": "FloorPlan223_physics/34", "pair_name": "0-1:Vase|+01.84|+00.78|-00.30", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Vase\nB. HousePlant\nC. Vase\nD. Window", "answer": "A", "object_name": "Vase", "image_1": "FloorPlan223_physics/34/rgb_0.png", "image_2": "FloorPlan223_physics/34/rgb_1.png", "mask_image": "FloorPlan223_physics/34/rgb_1_mask_Vase|+01.84|+00.78|-00.30.png", "options": ["Vase", "HousePlant", "Vase", "Window"]} +{"id": 20369, "folder_dir": "FloorPlan223_physics/34", "pair_name": "0-1:Chair|+01.46|00.00|+00.20", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pillow\nB. Chair\nC. Vase\nD. Laptop", "answer": "B", "object_name": "Chair", "image_1": "FloorPlan223_physics/34/rgb_0.png", "image_2": "FloorPlan223_physics/34/rgb_1.png", "mask_image": "FloorPlan223_physics/34/rgb_1_mask_Chair|+01.46|00.00|+00.20.png", "options": ["Pillow", "Chair", "Vase", "Laptop"]} +{"id": 20370, "folder_dir": "FloorPlan223_physics/34", "pair_name": "1-0:Vase|+01.84|+00.78|-00.30", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. Vase\nC. Vase\nD. Chair", "answer": "B", "object_name": "Vase", "image_1": "FloorPlan223_physics/34/rgb_1.png", "image_2": "FloorPlan223_physics/34/rgb_0.png", "mask_image": "FloorPlan223_physics/34/rgb_0_mask_Vase|+01.84|+00.78|-00.30.png", "options": ["Painting", "Vase", "Vase", "Chair"]} +{"id": 20371, "folder_dir": "FloorPlan223_physics/34", "pair_name": "1-0:Chair|+01.46|00.00|+00.20", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. None\nC. Vase\nD. Painting", "answer": "A", "object_name": "Chair", "image_1": "FloorPlan223_physics/34/rgb_1.png", "image_2": "FloorPlan223_physics/34/rgb_0.png", "mask_image": "FloorPlan223_physics/34/rgb_0_mask_Chair|+01.46|00.00|+00.20.png", "options": ["Chair", "None", "Vase", "Painting"]} diff --git a/train/FloorPlan223_physics/34/questions_distance.jsonl b/train/FloorPlan223_physics/34/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bcc63daa6598e983bb077a879f980ba28083693 --- /dev/null +++ b/train/FloorPlan223_physics/34/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 6018, "folder_dir": "FloorPlan223_physics/34", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Box\nB. Plate\nC. GarbageCan\nD. Other\n", "answer": "A", "src_object": "DiningTable", "target_object": "Box", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Box", "semantic_id": "Box|+01.27|+00.15|-00.29", "distance": 0.6851397287211983, "com": {"x": 1.2528727054595947, "y": 0.13431625068187714, "z": -0.365255743265152}}, {"text": "Plate", "semantic_id": "Plate|+01.36|+00.78|-00.62", "distance": 0.7378836752432911, "com": {"x": 1.36051607131958, "y": 0.7897693514823914, "z": -0.6254259347915649}}, {"text": "GarbageCan", "semantic_id": "GarbageCan|+00.30|+00.00|+01.25", "distance": 2.2139714883209467, "com": {"x": 0.2996993362903595, "y": 0.32798317074775696, "z": 1.2532281875610352}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/34/rgb_0.png", "image_2": "FloorPlan223_physics/34/rgb_1.png"} diff --git a/train/FloorPlan223_physics/34/rgb_0.png b/train/FloorPlan223_physics/34/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..97184537955322f00e330a885671b78995154b8a --- /dev/null +++ b/train/FloorPlan223_physics/34/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25289c8548d4418f24eb1c5731680b9e50069b9671606d771b329a3f59e763e5 +size 832667 diff --git a/train/FloorPlan223_physics/34/rgb_0_mask_Chair|+01.46|00.00|+00.20.png b/train/FloorPlan223_physics/34/rgb_0_mask_Chair|+01.46|00.00|+00.20.png new file mode 100644 index 0000000000000000000000000000000000000000..edf563e5fab913d20bcc8f34ba282d64f2b7a515 --- /dev/null +++ b/train/FloorPlan223_physics/34/rgb_0_mask_Chair|+01.46|00.00|+00.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8df56a1b748bcedc6b644e3d43995a0b96a48f8e32e4acb1e5a400c853c118a4 +size 724698 diff --git a/train/FloorPlan223_physics/34/rgb_0_mask_Vase|+01.84|+00.78|-00.30.png b/train/FloorPlan223_physics/34/rgb_0_mask_Vase|+01.84|+00.78|-00.30.png new file mode 100644 index 0000000000000000000000000000000000000000..ac4cd5654a059aa9939e19347ec841e00e242b7c --- /dev/null +++ b/train/FloorPlan223_physics/34/rgb_0_mask_Vase|+01.84|+00.78|-00.30.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fd5e9ac926873e851230481a23b4921e842e337f3e8f5d9d0d807425e5adc6e +size 720843 diff --git a/train/FloorPlan223_physics/34/rgb_1.png b/train/FloorPlan223_physics/34/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d795c508e3a533f4fb74e9afcf4bd46d7f4b8c5b --- /dev/null +++ b/train/FloorPlan223_physics/34/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0493ac2afcec041e886054526f032efa8af57c247afa994f3e61f6a4b6e99792 +size 845942 diff --git a/train/FloorPlan223_physics/34/rgb_1_mask_Chair|+01.46|00.00|+00.20.png b/train/FloorPlan223_physics/34/rgb_1_mask_Chair|+01.46|00.00|+00.20.png new file mode 100644 index 0000000000000000000000000000000000000000..06d91f1fc684a58933a1d716d983fe3a702720ed --- /dev/null +++ b/train/FloorPlan223_physics/34/rgb_1_mask_Chair|+01.46|00.00|+00.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce35b9b0ff33910917fbe9acd4998ebc6fa983fbf7fbffd0eb0bfc94c0168844 +size 736541 diff --git a/train/FloorPlan223_physics/34/rgb_1_mask_Vase|+01.57|+00.78|-00.31.png b/train/FloorPlan223_physics/34/rgb_1_mask_Vase|+01.57|+00.78|-00.31.png new file mode 100644 index 0000000000000000000000000000000000000000..4f7c117c6c3079703bd5d1c9a8da397e44f86755 --- /dev/null +++ b/train/FloorPlan223_physics/34/rgb_1_mask_Vase|+01.57|+00.78|-00.31.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f4e49c863a18b007527edb9f5459922f6cbf8edb5c9a73436a4de0524782364 +size 741707 diff --git a/train/FloorPlan223_physics/34/rgb_1_mask_Vase|+01.84|+00.78|-00.30.png b/train/FloorPlan223_physics/34/rgb_1_mask_Vase|+01.84|+00.78|-00.30.png new file mode 100644 index 0000000000000000000000000000000000000000..07b82a73ffc4dc67cdcf0f7dc0df98efd691f834 --- /dev/null +++ b/train/FloorPlan223_physics/34/rgb_1_mask_Vase|+01.84|+00.78|-00.30.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b85ddcc0c627a03d25c7540ed799b2900e562776b9fbceebf6151e4cb298ef99 +size 738552 diff --git a/train/FloorPlan223_physics/34/semantic_0.png b/train/FloorPlan223_physics/34/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..72348879214fc2f41c3a18f0c4345df4424348d4 Binary files /dev/null and b/train/FloorPlan223_physics/34/semantic_0.png differ diff --git a/train/FloorPlan223_physics/34/semantic_1.png b/train/FloorPlan223_physics/34/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..a5e3ea2bc8615ffe7654bfcf5e1efd7b5817b373 Binary files /dev/null and b/train/FloorPlan223_physics/34/semantic_1.png differ diff --git a/train/FloorPlan223_physics/35/0.json b/train/FloorPlan223_physics/35/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f9a2095e8579bf05633b50211fe819a51ff24464 --- /dev/null +++ b/train/FloorPlan223_physics/35/0.json @@ -0,0 +1,1942 @@ +{ + "object": [ + { + "objectId": "WateringCan|-03.25|00.00|-01.86", + "object_info": { + "name": "WateringCan_31a595df", + "position": { + "x": -3.2522449493408203, + "y": -0.0008590668439865112, + "z": -1.8618444204330444 + }, + "rotation": { + "x": -0.0003620765928644687, + "y": -0.000614947231952101, + "z": 0.0007242992869578302 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.4430603981018066, + "objectType": "WateringCan", + "objectId": "WateringCan|-03.25|00.00|-01.86", + "assetId": "Watering_Can_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.176553726196289, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.9819858074188232 + ] + ], + "center": { + "x": -3.2522456645965576, + "y": 0.09692596644163132, + "z": -1.8485687971115112 + }, + "size": { + "x": 0.1513838768005371, + "y": 0.19385077059268951, + "z": 0.266834020614624 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1765549182891846, + 5.470355972647667e-07, + -1.715149998664856 + ], + [ + -3.3279380798339844, + -6.129266694188118e-07, + -1.7151516675949097 + ], + [ + -3.327935218811035, + -1.2035015970468521e-06, + -1.9819879531860352 + ], + [ + -3.1765518188476562, + -4.353933036327362e-08, + -1.9819862842559814 + ], + [ + -3.176556348800659, + 0.19385217130184174, + -1.7151503562927246 + ], + [ + -3.327939510345459, + 0.19385100901126862, + -1.7151521444320679 + ], + [ + -3.3279366493225098, + 0.19385041296482086, + -1.9819884300231934 + ], + [ + -3.17655348777771, + 0.19385157525539398, + -1.9819867610931396 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "object_info": { + "name": "ArmChair_4b8c6e75", + "position": { + "x": -0.43700525164604187, + "y": 0.005729973316192627, + "z": 1.9230469465255737 + }, + "rotation": { + "x": 4.141504905419424e-05, + "y": 270.00018310546875, + "z": -0.0001669862394919619 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1221652030944824, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04723113775253296, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.04723113775253296, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 1.5481648445129395 + ] + ], + "center": { + "x": -0.43125927448272705, + "y": 0.3626064956188202, + "z": 1.9265482425689697 + }, + "size": { + "x": 0.7680562734603882, + "y": 0.7252018451690674, + "z": 0.7567667961120605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8153156042098999, + 1.087365671992302e-05, + 2.3049323558807373 + ], + [ + -0.8153178691864014, + 1.3908371329307556e-05, + 1.5481648445129395 + ], + [ + -0.04725685715675354, + 1.4075078070163727e-05, + 1.548162579536438 + ], + [ + -0.04725465178489685, + 1.104036346077919e-05, + 2.3049302101135254 + ], + [ + -0.8153157830238342, + 0.7252148985862732, + 2.3049352169036865 + ], + [ + -0.8153179883956909, + 0.7252179384231567, + 1.5481677055358887 + ], + [ + -0.04725700616836548, + 0.7252180576324463, + 1.5481654405593872 + ], + [ + -0.04725480079650879, + 0.7252150177955627, + 2.3049330711364746 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "Painting|-00.06|+01.60|+01.73", + "object_info": { + "name": "Painting_9a6f96ff", + "position": { + "x": -0.0560000017285347, + "y": 1.6019999980926514, + "z": 1.7330000400543213 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9214128255844116, + "objectType": "Painting", + "objectId": "Painting|-00.06|+01.60|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.02334464341402054, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 2.0239996910095215, + 1.168489694595337 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 1.168489694595337 + ] + ], + "center": { + "x": -0.02120792120695114, + "y": 1.598686695098877, + "z": 1.7579162120819092 + }, + "size": { + "x": 0.08910512924194336, + "y": 0.8506259918212891, + "z": 1.1788530349731445 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.4000000953674316, + "y": 0.9009991884231567, + "z": 1.899999976158142 + }, + "agent_rotation": { + "x": -0.0, + "y": 152.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.4000000953674316, + "y": 1.5759992599487305, + "z": 1.899999976158142 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "WateringCan|-03.25|00.00|-01.86", + "Window|-02.00|+01.51|-01.93", + "ArmChair|-02.01|+00.01|-01.58" + ], + "different_object": [ + "Painting|-00.06|+01.60|+01.73", + "ArmChair|-00.44|+00.01|+01.92", + "Chair|+01.64|00.00|-00.85", + "Pillow|-01.93|+00.37|-01.49", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "Box|+01.27|+00.15|-00.29", + "DiningTable|+01.88|+00.00|-00.29", + "Window|+01.48|+01.51|-01.93", + "ArmChair|-00.43|+00.01|+01.06" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/35/0_depth_npy.npy b/train/FloorPlan223_physics/35/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..3d7777c0fdeab5f5ffef156e91c64325296a8a13 --- /dev/null +++ b/train/FloorPlan223_physics/35/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bbfbf27beb0d175ba862ead4d5ca0c59d9d8a8cecab3fb41c86dbc8073813b3 +size 3145856 diff --git a/train/FloorPlan223_physics/35/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/35/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..1828f9f4c8a156f87be6386674c93d6258da9073 --- /dev/null +++ b/train/FloorPlan223_physics/35/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:933436623d171ef7253ee4b21754cda9d8b13a209935dfaa2deac48356e54a29 +size 2359424 diff --git a/train/FloorPlan223_physics/35/1.json b/train/FloorPlan223_physics/35/1.json new file mode 100644 index 0000000000000000000000000000000000000000..ccebcc5eb5220b1d72a10f6480a35e89c90a53fc --- /dev/null +++ b/train/FloorPlan223_physics/35/1.json @@ -0,0 +1,927 @@ +{ + "object": [ + { + "objectId": "WateringCan|-03.25|00.00|-01.86", + "object_info": { + "name": "WateringCan_31a595df", + "position": { + "x": -3.2522449493408203, + "y": -0.0008590668439865112, + "z": -1.8618444204330444 + }, + "rotation": { + "x": -0.0003620765928644687, + "y": -0.000614947231952101, + "z": 0.0007242992869578302 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.4430603981018066, + "objectType": "WateringCan", + "objectId": "WateringCan|-03.25|00.00|-01.86", + "assetId": "Watering_Can_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.176553726196289, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.9819858074188232 + ] + ], + "center": { + "x": -3.2522456645965576, + "y": 0.09692596644163132, + "z": -1.8485687971115112 + }, + "size": { + "x": 0.1513838768005371, + "y": 0.19385077059268951, + "z": 0.266834020614624 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1765549182891846, + 5.470355972647667e-07, + -1.715149998664856 + ], + [ + -3.3279380798339844, + -6.129266694188118e-07, + -1.7151516675949097 + ], + [ + -3.327935218811035, + -1.2035015970468521e-06, + -1.9819879531860352 + ], + [ + -3.1765518188476562, + -4.353933036327362e-08, + -1.9819862842559814 + ], + [ + -3.176556348800659, + 0.19385217130184174, + -1.7151503562927246 + ], + [ + -3.327939510345459, + 0.19385100901126862, + -1.7151521444320679 + ], + [ + -3.3279366493225098, + 0.19385041296482086, + -1.9819884300231934 + ], + [ + -3.17655348777771, + 0.19385157525539398, + -1.9819867610931396 + ] + ] + } + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|-01.61", + "object_info": { + "name": "SideTable_32f926b8", + "position": { + "x": -3.597963809967041, + "y": 0.004360944032669067, + "z": -1.6070078611373901 + }, + "rotation": { + "x": 0.003428330644965172, + "y": 0.002825607778504491, + "z": 359.70733642578125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|-03.58|+00.60|-01.62" + ], + "distance": 3.6033060550689697, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|-01.61", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.425083637237549, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.425083637237549, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.7844332456588745 + ] + ], + "center": { + "x": -3.5953938961029053, + "y": 0.3019649386405945, + "z": -1.6094589233398438 + }, + "size": { + "x": 0.3406205177307129, + "y": 0.6039294004440308, + "z": 0.3499486446380615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425757646560669, + -0.0015295855700969696, + -1.434476375579834 + ], + [ + -3.7657032012939453, + 0.0001298254355788231, + -1.4344571828842163 + ], + [ + -3.76572322845459, + 6.832834333181381e-05, + -1.7844345569610596 + ], + [ + -3.4257779121398926, + -0.0015910826623439789, + -1.7844538688659668 + ], + [ + -3.4228098392486572, + 0.6023802757263184, + -1.4345827102661133 + ], + [ + -3.7627553939819336, + 0.6040396690368652, + -1.4345635175704956 + ], + [ + -3.762775421142578, + 0.603978157043457, + -1.7845408916473389 + ], + [ + -3.4228298664093018, + 0.6023187637329102, + -1.7845600843429565 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.5, + "y": 0.9009991884231567, + "z": -1.0 + }, + "agent_rotation": { + "x": -0.0, + "y": 223.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.5, + "y": 1.5759992599487305, + "z": -1.0 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "WateringCan|-03.25|00.00|-01.86", + "Window|-02.00|+01.51|-01.93", + "ArmChair|-02.01|+00.01|-01.58" + ], + "different_object": [ + "SideTable|-03.60|+00.00|-01.61", + "Sofa|-03.42|+00.01|-00.04", + "HousePlant|-03.58|+00.60|-01.62" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/35/1_depth_npy.npy b/train/FloorPlan223_physics/35/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ff539f5d45aaf6464a4f54284168c643bf290eff --- /dev/null +++ b/train/FloorPlan223_physics/35/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:539c9e6b63c50ffd56a9d10ef61f7af3a0b47cc2b9d4dbb2f8fd1ddf5ddb1291 +size 3145856 diff --git a/train/FloorPlan223_physics/35/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/35/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..95210d147e3aaef9fda9cefd79e7c901980e13bc --- /dev/null +++ b/train/FloorPlan223_physics/35/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15dd5d64cd2897c8f0c6cce906521e2f10535d7a16c0cf56b679dbd4fa0a4a35 +size 2359424 diff --git a/train/FloorPlan223_physics/35/depth_0.png b/train/FloorPlan223_physics/35/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..281cf24181e09136e2c710b0092fae5525fd4abb Binary files /dev/null and b/train/FloorPlan223_physics/35/depth_0.png differ diff --git a/train/FloorPlan223_physics/35/depth_1.png b/train/FloorPlan223_physics/35/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..8b94da65eff95a626bf4b1318d88f07984a57829 Binary files /dev/null and b/train/FloorPlan223_physics/35/depth_1.png differ diff --git a/train/FloorPlan223_physics/35/mask_questions.jsonl b/train/FloorPlan223_physics/35/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e009e94c087ca9de99094a42c89a20f233b34a46 --- /dev/null +++ b/train/FloorPlan223_physics/35/mask_questions.jsonl @@ -0,0 +1 @@ +{"id": 20307, "folder_dir": "FloorPlan223_physics/35", "pair_name": "1-0:Window|-02.00|+01.51|-01.93", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. WateringCan\nC. SideTable\nD. HousePlant", "answer": "A", "object_name": "Window", "image_1": "FloorPlan223_physics/35/rgb_1.png", "image_2": "FloorPlan223_physics/35/rgb_0.png", "mask_image": "FloorPlan223_physics/35/rgb_0_mask_Window|-02.00|+01.51|-01.93.png", "options": ["Window", "WateringCan", "SideTable", "HousePlant"]} diff --git a/train/FloorPlan223_physics/35/questions_direction.jsonl b/train/FloorPlan223_physics/35/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e35649008634b530f1c76f01b0632cc90f3a3852 --- /dev/null +++ b/train/FloorPlan223_physics/35/questions_direction.jsonl @@ -0,0 +1,18 @@ +{"id": 4395, "folder_dir": "FloorPlan223_physics/35", "pair_name": "CoffeeTable-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of CoffeeTable. Where is the centroid position of Sofa in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "CoffeeTable", "tgt_object": "Sofa", "src_com": {"x": -2.0229990482330322, "y": 0.2217133343219757, "z": 0.017372846603393555}, "tgt_com": {"x": -3.4184064865112305, "y": 0.646526575088501, "z": -0.04300093650817871}, "agent_pos": {"x": -1.4000000953674316, "y": 1.5759992599487305, "z": 1.899999976158142}, "image_1": "FloorPlan223_physics/35/rgb_0.png", "image_2": "FloorPlan223_physics/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4396, "folder_dir": "FloorPlan223_physics/35", "pair_name": "Pillow-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pillow. Where is the centroid position of Sofa in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Pillow", "tgt_object": "Sofa", "src_com": {"x": -1.91756272315979, "y": 0.37403398752212524, "z": -1.487987756729126}, "tgt_com": {"x": -3.4184064865112305, "y": 0.646526575088501, "z": -0.04300093650817871}, "agent_pos": {"x": -1.4000000953674316, "y": 1.5759992599487305, "z": 1.899999976158142}, "image_1": "FloorPlan223_physics/35/rgb_0.png", "image_2": "FloorPlan223_physics/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4397, "folder_dir": "FloorPlan223_physics/35", "pair_name": "Pillow-HousePlant", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pillow. Where is the centroid position of HousePlant in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Pillow", "tgt_object": "HousePlant", "src_com": {"x": -1.91756272315979, "y": 0.37403398752212524, "z": -1.487987756729126}, "tgt_com": {"x": -3.6157047748565674, "y": 0.9319713711738586, "z": -1.5891475677490234}, "agent_pos": {"x": -1.4000000953674316, "y": 1.5759992599487305, "z": 1.899999976158142}, "image_1": "FloorPlan223_physics/35/rgb_0.png", "image_2": "FloorPlan223_physics/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4398, "folder_dir": "FloorPlan223_physics/35", "pair_name": "Pillow-SideTable", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Pillow. Where is the centroid position of SideTable in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Pillow", "tgt_object": "SideTable", "src_com": {"x": -1.91756272315979, "y": 0.37403398752212524, "z": -1.487987756729126}, "tgt_com": {"x": -3.5953938961029053, "y": 0.3019649386405945, "z": -1.6094589233398438}, "agent_pos": {"x": -1.4000000953674316, "y": 1.5759992599487305, "z": 1.899999976158142}, "image_1": "FloorPlan223_physics/35/rgb_0.png", "image_2": "FloorPlan223_physics/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4399, "folder_dir": "FloorPlan223_physics/35", "pair_name": "Laptop-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Laptop. Where is the centroid position of Sofa in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Laptop", "tgt_object": "Sofa", "src_com": {"x": -2.011923313140869, "y": 0.6075440645217896, "z": -0.1197483092546463}, "tgt_com": {"x": -3.4184064865112305, "y": 0.646526575088501, "z": -0.04300093650817871}, "agent_pos": {"x": -1.4000000953674316, "y": 1.5759992599487305, "z": 1.899999976158142}, "image_1": "FloorPlan223_physics/35/rgb_0.png", "image_2": "FloorPlan223_physics/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4400, "folder_dir": "FloorPlan223_physics/35", "pair_name": "Laptop-HousePlant", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Laptop. Where is the centroid position of HousePlant in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Laptop", "tgt_object": "HousePlant", "src_com": {"x": -2.011923313140869, "y": 0.6075440645217896, "z": -0.1197483092546463}, "tgt_com": {"x": -3.6157047748565674, "y": 0.9319713711738586, "z": -1.5891475677490234}, "agent_pos": {"x": -1.4000000953674316, "y": 1.5759992599487305, "z": 1.899999976158142}, "image_1": "FloorPlan223_physics/35/rgb_0.png", "image_2": "FloorPlan223_physics/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4401, "folder_dir": "FloorPlan223_physics/35", "pair_name": "Laptop-SideTable", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Laptop. Where is the centroid position of SideTable in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Laptop", "tgt_object": "SideTable", "src_com": {"x": -2.011923313140869, "y": 0.6075440645217896, "z": -0.1197483092546463}, "tgt_com": {"x": -3.5953938961029053, "y": 0.3019649386405945, "z": -1.6094589233398438}, "agent_pos": {"x": -1.4000000953674316, "y": 1.5759992599487305, "z": 1.899999976158142}, "image_1": "FloorPlan223_physics/35/rgb_0.png", "image_2": "FloorPlan223_physics/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4402, "folder_dir": "FloorPlan223_physics/35", "pair_name": "Painting-Sofa", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Painting. Where is the centroid position of Sofa in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Painting", "tgt_object": "Sofa", "src_com": {"x": -0.02120792120695114, "y": 1.598686695098877, "z": 1.7579162120819092}, "tgt_com": {"x": -3.4184064865112305, "y": 0.646526575088501, "z": -0.04300093650817871}, "agent_pos": {"x": -1.4000000953674316, "y": 1.5759992599487305, "z": 1.899999976158142}, "image_1": "FloorPlan223_physics/35/rgb_0.png", "image_2": "FloorPlan223_physics/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4403, "folder_dir": "FloorPlan223_physics/35", "pair_name": "Painting-HousePlant", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Painting. Where is the centroid position of HousePlant in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Painting", "tgt_object": "HousePlant", "src_com": {"x": -0.02120792120695114, "y": 1.598686695098877, "z": 1.7579162120819092}, "tgt_com": {"x": -3.6157047748565674, "y": 0.9319713711738586, "z": -1.5891475677490234}, "agent_pos": {"x": -1.4000000953674316, "y": 1.5759992599487305, "z": 1.899999976158142}, "image_1": "FloorPlan223_physics/35/rgb_0.png", "image_2": "FloorPlan223_physics/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4404, "folder_dir": "FloorPlan223_physics/35", "pair_name": "Painting-SideTable", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Painting. Where is the centroid position of SideTable in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Painting", "tgt_object": "SideTable", "src_com": {"x": -0.02120792120695114, "y": 1.598686695098877, "z": 1.7579162120819092}, "tgt_com": {"x": -3.5953938961029053, "y": 0.3019649386405945, "z": -1.6094589233398438}, "agent_pos": {"x": -1.4000000953674316, "y": 1.5759992599487305, "z": 1.899999976158142}, "image_1": "FloorPlan223_physics/35/rgb_0.png", "image_2": "FloorPlan223_physics/35/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4405, "folder_dir": "FloorPlan223_physics/35", "pair_name": "Sofa-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Sofa", "tgt_object": "Chair", "src_com": {"x": -3.4184064865112305, "y": 0.646526575088501, "z": -0.04300093650817871}, "tgt_com": {"x": 1.638000726699829, "y": 0.5135800242424011, "z": -0.8486523628234863}, "agent_pos": {"x": -1.5, "y": 1.5759992599487305, "z": -1.0}, "image_1": "FloorPlan223_physics/35/rgb_1.png", "image_2": "FloorPlan223_physics/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4406, "folder_dir": "FloorPlan223_physics/35", "pair_name": "Sofa-DiningTable", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. Where is the centroid position of DiningTable in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Sofa", "tgt_object": "DiningTable", "src_com": {"x": -3.4184064865112305, "y": 0.646526575088501, "z": -0.04300093650817871}, "tgt_com": {"x": 1.8840001821517944, "y": 0.3906911015510559, "z": -0.2919993996620178}, "agent_pos": {"x": -1.5, "y": 1.5759992599487305, "z": -1.0}, "image_1": "FloorPlan223_physics/35/rgb_1.png", "image_2": "FloorPlan223_physics/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4407, "folder_dir": "FloorPlan223_physics/35", "pair_name": "Sofa-CoffeeTable", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. Where is the centroid position of CoffeeTable in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Sofa", "tgt_object": "CoffeeTable", "src_com": {"x": -3.4184064865112305, "y": 0.646526575088501, "z": -0.04300093650817871}, "tgt_com": {"x": -2.0229990482330322, "y": 0.2217133343219757, "z": 0.017372846603393555}, "agent_pos": {"x": -1.5, "y": 1.5759992599487305, "z": -1.0}, "image_1": "FloorPlan223_physics/35/rgb_1.png", "image_2": "FloorPlan223_physics/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4408, "folder_dir": "FloorPlan223_physics/35", "pair_name": "Sofa-Laptop", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Sofa. Where is the centroid position of Laptop in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "C", "src_object": "Sofa", "tgt_object": "Laptop", "src_com": {"x": -3.4184064865112305, "y": 0.646526575088501, "z": -0.04300093650817871}, "tgt_com": {"x": -2.011923313140869, "y": 0.6075440645217896, "z": -0.1197483092546463}, "agent_pos": {"x": -1.5, "y": 1.5759992599487305, "z": -1.0}, "image_1": "FloorPlan223_physics/35/rgb_1.png", "image_2": "FloorPlan223_physics/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4409, "folder_dir": "FloorPlan223_physics/35", "pair_name": "HousePlant-Pillow", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of HousePlant. Where is the centroid position of Pillow in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "HousePlant", "tgt_object": "Pillow", "src_com": {"x": -3.6157047748565674, "y": 0.9319713711738586, "z": -1.5891475677490234}, "tgt_com": {"x": -1.91756272315979, "y": 0.37403398752212524, "z": -1.487987756729126}, "agent_pos": {"x": -1.5, "y": 1.5759992599487305, "z": -1.0}, "image_1": "FloorPlan223_physics/35/rgb_1.png", "image_2": "FloorPlan223_physics/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4410, "folder_dir": "FloorPlan223_physics/35", "pair_name": "HousePlant-Painting", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of HousePlant. Where is the centroid position of Painting in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "HousePlant", "tgt_object": "Painting", "src_com": {"x": -3.6157047748565674, "y": 0.9319713711738586, "z": -1.5891475677490234}, "tgt_com": {"x": -0.02120792120695114, "y": 1.598686695098877, "z": 1.7579162120819092}, "agent_pos": {"x": -1.5, "y": 1.5759992599487305, "z": -1.0}, "image_1": "FloorPlan223_physics/35/rgb_1.png", "image_2": "FloorPlan223_physics/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4411, "folder_dir": "FloorPlan223_physics/35", "pair_name": "SideTable-Pillow", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SideTable. Where is the centroid position of Pillow in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "A", "src_object": "SideTable", "tgt_object": "Pillow", "src_com": {"x": -3.5953938961029053, "y": 0.3019649386405945, "z": -1.6094589233398438}, "tgt_com": {"x": -1.91756272315979, "y": 0.37403398752212524, "z": -1.487987756729126}, "agent_pos": {"x": -1.5, "y": 1.5759992599487305, "z": -1.0}, "image_1": "FloorPlan223_physics/35/rgb_1.png", "image_2": "FloorPlan223_physics/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 4412, "folder_dir": "FloorPlan223_physics/35", "pair_name": "SideTable-Painting", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of SideTable. Where is the centroid position of Painting in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "SideTable", "tgt_object": "Painting", "src_com": {"x": -3.5953938961029053, "y": 0.3019649386405945, "z": -1.6094589233398438}, "tgt_com": {"x": -0.02120792120695114, "y": 1.598686695098877, "z": 1.7579162120819092}, "agent_pos": {"x": -1.5, "y": 1.5759992599487305, "z": -1.0}, "image_1": "FloorPlan223_physics/35/rgb_1.png", "image_2": "FloorPlan223_physics/35/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/FloorPlan223_physics/35/rgb_0.png b/train/FloorPlan223_physics/35/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c395000b124ad40dc0b0df552cb0e2e781281b6e --- /dev/null +++ b/train/FloorPlan223_physics/35/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9870b1966d8c79c74d94fa219f71a38b27c4089f58263ed74a321d1b4f5d44ed +size 839360 diff --git a/train/FloorPlan223_physics/35/rgb_0_mask_Window|-02.00|+01.51|-01.93.png b/train/FloorPlan223_physics/35/rgb_0_mask_Window|-02.00|+01.51|-01.93.png new file mode 100644 index 0000000000000000000000000000000000000000..41b8bb13eea5dd86cae09103623a0beb6a82f2ec --- /dev/null +++ b/train/FloorPlan223_physics/35/rgb_0_mask_Window|-02.00|+01.51|-01.93.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43cfc49bfdb47fdf2deabb8dad082c3db3e1e180b0d2008314b7451b1b2eb2dd +size 731748 diff --git a/train/FloorPlan223_physics/35/rgb_1.png b/train/FloorPlan223_physics/35/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..2761eaa28ded1e23b9981a7fbbfa50fb0ba83288 --- /dev/null +++ b/train/FloorPlan223_physics/35/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:372bb5f149633b1aeed152362dfc15c7f130e9e72544e4c81f1923ca8c0e2adc +size 490841 diff --git a/train/FloorPlan223_physics/35/semantic_0.png b/train/FloorPlan223_physics/35/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..f97afdcd86d8dc105767a1b15165dbeaa47b62af Binary files /dev/null and b/train/FloorPlan223_physics/35/semantic_0.png differ diff --git a/train/FloorPlan223_physics/35/semantic_1.png b/train/FloorPlan223_physics/35/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ab4a81b85e9d4fbb0d350ef60b0a1d4e10de9f60 Binary files /dev/null and b/train/FloorPlan223_physics/35/semantic_1.png differ diff --git a/train/FloorPlan223_physics/36/0.json b/train/FloorPlan223_physics/36/0.json new file mode 100644 index 0000000000000000000000000000000000000000..4b60852ab3c95e2f25600e464fcbd332a851178e --- /dev/null +++ b/train/FloorPlan223_physics/36/0.json @@ -0,0 +1,2144 @@ +{ + "object": [ + { + "objectId": "Statue|-02.04|+00.24|+02.75", + "object_info": { + "name": "Statue_2147f514", + "position": { + "x": -2.0441362857818604, + "y": 0.2397981435060501, + "z": 2.7487399578094482 + }, + "rotation": { + "x": 0.5867406129837036, + "y": 359.98504638671875, + "z": 0.9680944681167603 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Stone" + ], + "receptacleObjectIds": null, + "distance": 3.221353054046631, + "objectType": "Statue", + "objectId": "Statue|-02.04|+00.24|+02.75", + "assetId": "Dog_Statue_4", + "parentReceptacles": [ + "DiningTable|-01.86|+00.23|+02.79", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.9340085983276367, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.7116007804870605 + ] + ], + "center": { + "x": -2.067904472351074, + "y": 0.33797669410705566, + "z": 2.777303695678711 + }, + "size": { + "x": 0.267791748046875, + "y": 0.20818185806274414, + "z": 0.13140583038330078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.932020902633667, + 0.23496071994304657, + 2.8412842750549316 + ], + [ + -2.2012362480163574, + 0.23041173815727234, + 2.841167449951172 + ], + [ + -2.201202392578125, + 0.2317402958869934, + 2.711437225341797 + ], + [ + -1.9319870471954346, + 0.23628926277160645, + 2.7115540504455566 + ], + [ + -1.9355692863464355, + 0.44490715861320496, + 2.843433380126953 + ], + [ + -2.204784631729126, + 0.44035816192626953, + 2.8433165550231934 + ], + [ + -2.2047507762908936, + 0.4416867196559906, + 2.7135863304138184 + ], + [ + -1.9355354309082031, + 0.446235716342926, + 2.713703155517578 + ] + ] + } + } + }, + { + "objectId": "Candle|-01.54|+00.23|+02.74", + "object_info": { + "name": "Candle_f40c2f5f", + "position": { + "x": -1.536789894104004, + "y": 0.2342444658279419, + "z": 2.7418534755706787 + }, + "rotation": { + "x": 0.09415348619222641, + "y": 359.6438903808594, + "z": 0.19696395099163055 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Wax" + ], + "receptacleObjectIds": null, + "distance": 3.0062029361724854, + "objectType": "Candle", + "objectId": "Candle|-01.54|+00.23|+02.74", + "assetId": "Candle_6", + "parentReceptacles": [ + "DiningTable|-01.86|+00.23|+02.79", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5155794620513916, + 0.40167558193206787, + 2.7630717754364014 + ], + [ + -1.5155794620513916, + 0.40167558193206787, + 2.7206437587738037 + ], + [ + -1.5155794620513916, + 0.23379802703857422, + 2.7630717754364014 + ], + [ + -1.5155794620513916, + 0.23379802703857422, + 2.7206437587738037 + ], + [ + -1.5580174922943115, + 0.40167558193206787, + 2.7630717754364014 + ], + [ + -1.5580174922943115, + 0.40167558193206787, + 2.7206437587738037 + ], + [ + -1.5580174922943115, + 0.23379802703857422, + 2.7630717754364014 + ], + [ + -1.5580174922943115, + 0.23379802703857422, + 2.7206437587738037 + ] + ], + "center": { + "x": -1.5367984771728516, + "y": 0.31773680448532104, + "z": 2.7418577671051025 + }, + "size": { + "x": 0.04243803024291992, + "y": 0.16787755489349365, + "z": 0.042428016662597656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.515762448310852, + 0.2339225858449936, + 2.7631423473358154 + ], + [ + -1.5580779314041138, + 0.23377712070941925, + 2.7628791332244873 + ], + [ + -1.5578149557113647, + 0.23384664952754974, + 2.7205634117126465 + ], + [ + -1.5154993534088135, + 0.23399212956428528, + 2.7208266258239746 + ], + [ + -1.516340970993042, + 0.401713490486145, + 2.7634143829345703 + ], + [ + -1.5586564540863037, + 0.4015679955482483, + 2.763151168823242 + ], + [ + -1.5583934783935547, + 0.40163755416870117, + 2.7208356857299805 + ], + [ + -1.5160778760910034, + 0.4017830193042755, + 2.7210988998413086 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "object_info": { + "name": "DiningTable_42373f1f", + "position": { + "x": -1.8579727411270142, + "y": 0.2316993921995163, + "z": 2.7878525257110596 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75" + ], + "distance": 3.172408103942871, + "objectType": "DiningTable", + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.353766918182373, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.6145288944244385 + ] + ], + "center": { + "x": -1.8579730987548828, + "y": 0.27928826212882996, + "z": 2.787849187850952 + }, + "size": { + "x": 1.0084123611450195, + "y": 0.09547990560531616, + "z": 0.34664058685302734 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "object_info": { + "name": "RemoteControl_09703e97", + "position": { + "x": -2.2912778854370117, + "y": 0.7151373624801636, + "z": 2.7494349479675293 + }, + "rotation": { + "x": 359.9211120605469, + "y": 0.35118886828422546, + "z": 359.98101806640625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.2867329120635986, + "objectType": "RemoteControl", + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "assetId": "Remote_3", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.256807565689087, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.6374101638793945 + ] + ], + "center": { + "x": -2.290771484375, + "y": 0.7245430946350098, + "z": 2.7473092079162598 + }, + "size": { + "x": 0.06792783737182617, + "y": 0.02184438705444336, + "z": 0.21979808807373047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.256814479827881, + 0.7139212489128113, + 2.8567938804626465 + ], + [ + -2.3244235515594482, + 0.713943600654602, + 2.857208251953125 + ], + [ + -2.325768232345581, + 0.7136415839195251, + 2.6378211975097656 + ], + [ + -2.2581591606140137, + 0.7136191725730896, + 2.637406826019287 + ], + [ + -2.256807565689087, + 0.7354427576065063, + 2.856764078140259 + ], + [ + -2.3244166374206543, + 0.7354651689529419, + 2.8571784496307373 + ], + [ + -2.325761318206787, + 0.735163152217865, + 2.637791633605957 + ], + [ + -2.2581522464752197, + 0.7351407408714294, + 2.6373772621154785 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "object_info": { + "name": "LightSwitch_477ce142", + "position": { + "x": -3.9000000953674316, + "y": 1.284000039100647, + "z": 1.684000015258789 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.813469171524048, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.8669681549072266, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.64006507396698 + ] + ], + "center": { + "x": -3.883484125137329, + "y": 1.2851357460021973, + "z": 1.684000015258789 + }, + "size": { + "x": 0.03303194046020508, + "y": 0.1647193431854248, + "z": 0.08786988258361816 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|+01.44", + "object_info": { + "name": "SideTable_ef1b602c", + "position": { + "x": -3.5979855060577393, + "y": 0.004337579011917114, + "z": 1.4379733800888062 + }, + "rotation": { + "x": 359.8045959472656, + "y": -0.00013349241635296494, + "z": 359.9132080078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|-03.59|+00.60|+01.43" + ], + "distance": 3.5311872959136963, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|+01.44", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.4255571365356445, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.260542392730713 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.260542392730713 + ] + ], + "center": { + "x": -3.5956337451934814, + "y": 0.3019368052482605, + "z": 1.4354181289672852 + }, + "size": { + "x": 0.34015321731567383, + "y": 0.6039015054702759, + "z": 0.34975147247314453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425769567489624, + -0.000412600114941597, + 1.610532522201538 + ], + [ + -3.765719413757324, + 0.00010331394150853157, + 1.6105319261550903 + ], + [ + -3.7657206058502197, + -0.0010759038850665092, + 1.260555386543274 + ], + [ + -3.4257707595825195, + -0.0015918179415166378, + 1.2605559825897217 + ], + [ + -3.4248530864715576, + 0.6035022735595703, + 1.6084977388381958 + ], + [ + -3.764802932739258, + 0.6040182113647461, + 1.608497142791748 + ], + [ + -3.7648041248321533, + 0.6028389930725098, + 1.258520483970642 + ], + [ + -3.424854278564453, + 0.602323055267334, + 1.2585210800170898 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Statue|-03.59|+00.60|+01.43", + "object_info": { + "name": "Statue_b51b8ac3", + "position": { + "x": -3.591968536376953, + "y": 0.6028220653533936, + "z": 1.4310815334320068 + }, + "rotation": { + "x": 0.07878818362951279, + "y": 90.00411224365234, + "z": 359.8116455078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.4201130867004395, + "objectType": "Statue", + "objectId": "Statue|-03.59|+00.60|+01.43", + "assetId": "Towel_Statue_1", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|+01.44" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.5098624229431152, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.3489149808883667 + ] + ], + "center": { + "x": -3.5919289588928223, + "y": 0.8084835410118103, + "z": 1.4310238361358643 + }, + "size": { + "x": 0.16413307189941406, + "y": 0.4112800359725952, + "z": 0.16421771049499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.5099401473999023, + 0.6027724146842957, + 1.3490607738494873 + ], + [ + -3.5099236965179443, + 0.603306770324707, + 1.5131219625473022 + ], + [ + -3.673985004425049, + 0.6035440564155579, + 1.513137698173523 + ], + [ + -3.674001455307007, + 0.6030097007751465, + 1.349076509475708 + ], + [ + -3.509345769882202, + 1.0137324333190918, + 1.3477221727371216 + ], + [ + -3.509329319000244, + 1.014266848564148, + 1.5117833614349365 + ], + [ + -3.6733906269073486, + 1.0145041942596436, + 1.5117990970611572 + ], + [ + -3.6734070777893066, + 1.0139697790145874, + 1.3477379083633423 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "TVStand|-01.86|+00.00|+02.79", + "object_info": { + "name": "TVStand_3ce96f2f", + "position": { + "x": -1.8579983711242676, + "y": 0.00039079785346984863, + "z": 2.787977933883667 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Television|-01.86|+01.20|+02.70", + "RemoteControl|-02.29|+00.71|+02.75" + ], + "distance": 3.2292532920837402, + "objectType": "TVStand", + "objectId": "TVStand|-01.86|+00.00|+02.79", + "assetId": "TV_Stand_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3527679443359375, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -1.3527679443359375, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.6121463775634766 + ] + ], + "center": { + "x": -1.8609373569488525, + "y": 0.35679537057876587, + "z": 2.7879385948181152 + }, + "size": { + "x": 1.01633882522583, + "y": 0.7136019468307495, + "z": 0.35158443450927734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.3528119325637817, + 2.9323389753699303e-05, + 2.963749408721924 + ], + [ + -2.3691158294677734, + 7.576588541269302e-05, + 2.9637136459350586 + ], + [ + -2.36910343170166, + 3.9373175241053104e-05, + 2.61221981048584 + ], + [ + -1.352799654006958, + -7.069320417940617e-06, + 2.612255334854126 + ], + [ + -1.3527793884277344, + 0.7135501503944397, + 2.9636754989624023 + ], + [ + -2.3690831661224365, + 0.7135965824127197, + 2.963639736175537 + ], + [ + -2.3690710067749023, + 0.7135602235794067, + 2.6121459007263184 + ], + [ + -1.352766990661621, + 0.7135137915611267, + 2.6121814250946045 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "Television|-01.86|+01.20|+02.70", + "object_info": { + "name": "Television_430e1f04", + "position": { + "x": -1.8597434759140015, + "y": 1.200732946395874, + "z": 2.7014834880828857 + }, + "rotation": { + "x": 359.06036376953125, + "y": 179.99822998046875, + "z": -0.0007116764318197966 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.03920316696167, + "objectType": "Television", + "objectId": "Television|-01.86|+01.20|+02.70", + "assetId": "Television_23", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.359736442565918, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.594604730606079 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.594604730606079 + ] + ], + "center": { + "x": -1.8597421646118164, + "y": 1.1164844036102295, + "z": 2.7694149017333984 + }, + "size": { + "x": 1.0000114440917969, + "y": 0.8063507080078125, + "z": 0.34962034225463867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.359734058380127, + 0.7141113877296448, + 2.589648723602295 + ], + [ + -1.3597339391708374, + 0.7141237854957581, + 2.5896799564361572 + ], + [ + -1.359744906425476, + 0.7083142399787903, + 2.9438905715942383 + ], + [ + -2.3597450256347656, + 0.708301842212677, + 2.943859577178955 + ], + [ + -2.3597443103790283, + 1.5198802947998047, + 2.6028645038604736 + ], + [ + -1.3597443103790283, + 1.519892692565918, + 2.602895736694336 + ], + [ + -1.359755277633667, + 1.5140831470489502, + 2.957106351852417 + ], + [ + -2.359755277633667, + 1.514070749282837, + 2.9570751190185547 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|-01.61", + "object_info": { + "name": "SideTable_32f926b8", + "position": { + "x": -3.597963809967041, + "y": 0.004360944032669067, + "z": -1.6070078611373901 + }, + "rotation": { + "x": 0.003428330644965172, + "y": 0.002825607778504491, + "z": 359.70733642578125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|-03.58|+00.60|-01.62" + ], + "distance": 3.6033060550689697, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|-01.61", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.425083637237549, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.425083637237549, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.7844332456588745 + ] + ], + "center": { + "x": -3.5953938961029053, + "y": 0.3019649386405945, + "z": -1.6094589233398438 + }, + "size": { + "x": 0.3406205177307129, + "y": 0.6039294004440308, + "z": 0.3499486446380615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425757646560669, + -0.0015295855700969696, + -1.434476375579834 + ], + [ + -3.7657032012939453, + 0.0001298254355788231, + -1.4344571828842163 + ], + [ + -3.76572322845459, + 6.832834333181381e-05, + -1.7844345569610596 + ], + [ + -3.4257779121398926, + -0.0015910826623439789, + -1.7844538688659668 + ], + [ + -3.4228098392486572, + 0.6023802757263184, + -1.4345827102661133 + ], + [ + -3.7627553939819336, + 0.6040396690368652, + -1.4345635175704956 + ], + [ + -3.762775421142578, + 0.603978157043457, + -1.7845408916473389 + ], + [ + -3.4228298664093018, + 0.6023187637329102, + -1.7845600843429565 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -0.800000011920929, + "y": 0.9009991884231567, + "z": -0.4000000059604645 + }, + "agent_rotation": { + "x": -0.0, + "y": 298.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -0.800000011920929, + "y": 1.5759992599487305, + "z": -0.4000000059604645 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Sofa|-03.42|+00.01|-00.04", + "Laptop|-02.02|+00.45|-00.12", + "SideTable|-03.60|+00.00|-01.61", + "CoffeeTable|-02.02|+00.01|+00.02", + "HousePlant|-03.58|+00.60|-01.62" + ], + "different_object": [ + "SideTable|-03.60|+00.00|+01.44", + "LightSwitch|-03.90|+01.28|+01.68", + "RemoteControl|-02.29|+00.71|+02.75", + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75", + "Television|-01.86|+01.20|+02.70", + "DiningTable|-01.86|+00.23|+02.79", + "TVStand|-01.86|+00.00|+02.79", + "Statue|-03.59|+00.60|+01.43" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/36/0_depth_npy.npy b/train/FloorPlan223_physics/36/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..79449dc782927922b88e92a37cb8c9c657e64c74 --- /dev/null +++ b/train/FloorPlan223_physics/36/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5db5e0ca8ca4519531cc5a4e55a3a522409c2bf86455f543d80ee9bf8bbc147 +size 3145856 diff --git a/train/FloorPlan223_physics/36/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/36/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e3752be83d1f936f4f2aab9601af9a503d299040 --- /dev/null +++ b/train/FloorPlan223_physics/36/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:951ed491b53fd568b0adb3fd8a48ccb013f3c3106689373ad6cf350c3c7f2666 +size 2359424 diff --git a/train/FloorPlan223_physics/36/1.json b/train/FloorPlan223_physics/36/1.json new file mode 100644 index 0000000000000000000000000000000000000000..18e71ad7adb84212efdf8bb3ab981f3dcb643ad7 --- /dev/null +++ b/train/FloorPlan223_physics/36/1.json @@ -0,0 +1,3091 @@ +{ + "object": [ + { + "objectId": "WateringCan|-03.25|00.00|-01.86", + "object_info": { + "name": "WateringCan_31a595df", + "position": { + "x": -3.2522449493408203, + "y": -0.0008590668439865112, + "z": -1.8618444204330444 + }, + "rotation": { + "x": -0.0003620765928644687, + "y": -0.000614947231952101, + "z": 0.0007242992869578302 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.4430603981018066, + "objectType": "WateringCan", + "objectId": "WateringCan|-03.25|00.00|-01.86", + "assetId": "Watering_Can_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.176553726196289, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.9819858074188232 + ] + ], + "center": { + "x": -3.2522456645965576, + "y": 0.09692596644163132, + "z": -1.8485687971115112 + }, + "size": { + "x": 0.1513838768005371, + "y": 0.19385077059268951, + "z": 0.266834020614624 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1765549182891846, + 5.470355972647667e-07, + -1.715149998664856 + ], + [ + -3.3279380798339844, + -6.129266694188118e-07, + -1.7151516675949097 + ], + [ + -3.327935218811035, + -1.2035015970468521e-06, + -1.9819879531860352 + ], + [ + -3.1765518188476562, + -4.353933036327362e-08, + -1.9819862842559814 + ], + [ + -3.176556348800659, + 0.19385217130184174, + -1.7151503562927246 + ], + [ + -3.327939510345459, + 0.19385100901126862, + -1.7151521444320679 + ], + [ + -3.3279366493225098, + 0.19385041296482086, + -1.9819884300231934 + ], + [ + -3.17655348777771, + 0.19385157525539398, + -1.9819867610931396 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "object_info": { + "name": "GarbageCan_cf69fd43", + "position": { + "x": 0.29969024658203125, + "y": 7.18235969543457e-06, + "z": 1.2532256841659546 + }, + "rotation": { + "x": 0.0006593925645574927, + "y": 2.2150020599365234, + "z": -0.002282413886860013 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7383514642715454, + "objectType": "GarbageCan", + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4879261255264282, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.0650081634521484 + ] + ], + "center": { + "x": 0.2996993362903595, + "y": 0.32798317074775696, + "z": 1.2532281875610352 + }, + "size": { + "x": 0.37645357847213745, + "y": 0.6559673547744751, + "z": 0.37644004821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.49219784140586853, + -3.6668598113465123e-07, + 1.4313961267471313 + ], + [ + 0.12151965498924255, + 9.915489499690011e-06, + 1.4457334280014038 + ], + [ + 0.10718235373497009, + 1.3122078598826192e-05, + 1.0750552415847778 + ], + [ + 0.47786054015159607, + 2.839903572748881e-06, + 1.0607179403305054 + ], + [ + 0.49221622943878174, + 0.6559540033340454, + 1.431401014328003 + ], + [ + 0.12153804302215576, + 0.6559642553329468, + 1.4457383155822754 + ], + [ + 0.1072007417678833, + 0.6559674739837646, + 1.0750601291656494 + ], + [ + 0.4778789281845093, + 0.6559572219848633, + 1.060722827911377 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|-01.61", + "object_info": { + "name": "SideTable_32f926b8", + "position": { + "x": -3.597963809967041, + "y": 0.004360944032669067, + "z": -1.6070078611373901 + }, + "rotation": { + "x": 0.003428330644965172, + "y": 0.002825607778504491, + "z": 359.70733642578125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|-03.58|+00.60|-01.62" + ], + "distance": 3.6033060550689697, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|-01.61", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.425083637237549, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.425083637237549, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.7844332456588745 + ] + ], + "center": { + "x": -3.5953938961029053, + "y": 0.3019649386405945, + "z": -1.6094589233398438 + }, + "size": { + "x": 0.3406205177307129, + "y": 0.6039294004440308, + "z": 0.3499486446380615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425757646560669, + -0.0015295855700969696, + -1.434476375579834 + ], + [ + -3.7657032012939453, + 0.0001298254355788231, + -1.4344571828842163 + ], + [ + -3.76572322845459, + 6.832834333181381e-05, + -1.7844345569610596 + ], + [ + -3.4257779121398926, + -0.0015910826623439789, + -1.7844538688659668 + ], + [ + -3.4228098392486572, + 0.6023802757263184, + -1.4345827102661133 + ], + [ + -3.7627553939819336, + 0.6040396690368652, + -1.4345635175704956 + ], + [ + -3.762775421142578, + 0.603978157043457, + -1.7845408916473389 + ], + [ + -3.4228298664093018, + 0.6023187637329102, + -1.7845600843429565 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.4000000953674316, + "y": 0.9009991884231567, + "z": 0.9000000357627869 + }, + "agent_rotation": { + "x": -0.0, + "y": 267.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.4000000953674316, + "y": 1.5759992599487305, + "z": 0.9000000357627869 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Sofa|-03.42|+00.01|-00.04", + "Laptop|-02.02|+00.45|-00.12", + "SideTable|-03.60|+00.00|-01.61", + "CoffeeTable|-02.02|+00.01|+00.02", + "HousePlant|-03.58|+00.60|-01.62" + ], + "different_object": [ + "Chair|+02.22|00.00|+00.15", + "WateringCan|-03.25|00.00|-01.86", + "Vase|+01.57|+00.78|-00.31", + "GarbageCan|+00.30|+00.00|+01.25", + "Vase|+01.84|+00.78|-00.30", + "Chair|+01.64|00.00|-00.85", + "Pillow|-01.93|+00.37|-01.49", + "ArmChair|-02.01|+00.01|-01.58", + "Plate|+01.36|+00.78|-00.62", + "DiningTable|+01.88|+00.00|-00.29", + "Box|+01.27|+00.15|-00.29", + "Chair|+01.46|00.00|+00.20", + "Window|-02.00|+01.51|-01.93", + "Window|+01.48|+01.51|-01.93", + "Chair|+02.29|00.00|-00.78" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/36/1_depth_npy.npy b/train/FloorPlan223_physics/36/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f4683b19e0206e7ff5a876239e4f132fb2fb8d4d --- /dev/null +++ b/train/FloorPlan223_physics/36/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d85293abec109d7cb63874a20e87ed34bb25121705a5a5cb88a39327fd3e2727 +size 3145856 diff --git a/train/FloorPlan223_physics/36/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/36/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..1bdf3c556fea97d035aa3153a5f2260284d2811d --- /dev/null +++ b/train/FloorPlan223_physics/36/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c1a112c7b8ade9afc0884f147718173f5227faf5d092ba0e9a36c3d45deef90 +size 2359424 diff --git a/train/FloorPlan223_physics/36/depth_0.png b/train/FloorPlan223_physics/36/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a387bfaae18114c7f5561f38690368088b7ab0c5 Binary files /dev/null and b/train/FloorPlan223_physics/36/depth_0.png differ diff --git a/train/FloorPlan223_physics/36/depth_1.png b/train/FloorPlan223_physics/36/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9712442edf8f3744de0dc469d7b1d5b788d660e5 Binary files /dev/null and b/train/FloorPlan223_physics/36/depth_1.png differ diff --git a/train/FloorPlan223_physics/36/mask_questions.jsonl b/train/FloorPlan223_physics/36/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/FloorPlan223_physics/36/rgb_0.png b/train/FloorPlan223_physics/36/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..a5d09c509fb64a4f4f4d0864b19ba643cbdf53c7 --- /dev/null +++ b/train/FloorPlan223_physics/36/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26f2e66730b544e7e371fd6cebf2512bff04948b5a12692a16cdce6a6e7c4d4a +size 793504 diff --git a/train/FloorPlan223_physics/36/rgb_1.png b/train/FloorPlan223_physics/36/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..76840e329defc5cc7126377604b5d8d19aa86454 --- /dev/null +++ b/train/FloorPlan223_physics/36/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46ae626b61fef2f21a627ed511711dcbe9219247e4c2f7ec3e06ef6a401076df +size 855853 diff --git a/train/FloorPlan223_physics/36/semantic_0.png b/train/FloorPlan223_physics/36/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..fa9b77739d11c81aa58c994c220ceef2beca77b1 Binary files /dev/null and b/train/FloorPlan223_physics/36/semantic_0.png differ diff --git a/train/FloorPlan223_physics/36/semantic_1.png b/train/FloorPlan223_physics/36/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ebd440d3aa9d7188b50c140093d946789313ab4c Binary files /dev/null and b/train/FloorPlan223_physics/36/semantic_1.png differ diff --git a/train/FloorPlan223_physics/37/0.json b/train/FloorPlan223_physics/37/0.json new file mode 100644 index 0000000000000000000000000000000000000000..46d42e1b11134acffd5b52530a64939efec9927f --- /dev/null +++ b/train/FloorPlan223_physics/37/0.json @@ -0,0 +1,3044 @@ +{ + "object": [ + { + "objectId": "WateringCan|-03.25|00.00|-01.86", + "object_info": { + "name": "WateringCan_31a595df", + "position": { + "x": -3.2522449493408203, + "y": -0.0008590668439865112, + "z": -1.8618444204330444 + }, + "rotation": { + "x": -0.0003620765928644687, + "y": -0.000614947231952101, + "z": 0.0007242992869578302 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.4430603981018066, + "objectType": "WateringCan", + "objectId": "WateringCan|-03.25|00.00|-01.86", + "assetId": "Watering_Can_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.176553726196289, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.9819858074188232 + ] + ], + "center": { + "x": -3.2522456645965576, + "y": 0.09692596644163132, + "z": -1.8485687971115112 + }, + "size": { + "x": 0.1513838768005371, + "y": 0.19385077059268951, + "z": 0.266834020614624 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1765549182891846, + 5.470355972647667e-07, + -1.715149998664856 + ], + [ + -3.3279380798339844, + -6.129266694188118e-07, + -1.7151516675949097 + ], + [ + -3.327935218811035, + -1.2035015970468521e-06, + -1.9819879531860352 + ], + [ + -3.1765518188476562, + -4.353933036327362e-08, + -1.9819862842559814 + ], + [ + -3.176556348800659, + 0.19385217130184174, + -1.7151503562927246 + ], + [ + -3.327939510345459, + 0.19385100901126862, + -1.7151521444320679 + ], + [ + -3.3279366493225098, + 0.19385041296482086, + -1.9819884300231934 + ], + [ + -3.17655348777771, + 0.19385157525539398, + -1.9819867610931396 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "Window|+03.48|+01.51|-01.93", + "object_info": { + "name": "Window_dea94267", + "position": { + "x": 3.4800000190734863, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.463291168212891, + "objectType": "Window", + "objectId": "Window|+03.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.960000514984131, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.960000514984131, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -2.0399999618530273 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -2.0399999618530273 + ] + ], + "center": { + "x": 3.5, + "y": 1.0739160776138306, + "z": -1.9994010925292969 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.147834062576294, + "z": 0.08119773864746094 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|-01.61", + "object_info": { + "name": "SideTable_32f926b8", + "position": { + "x": -3.597963809967041, + "y": 0.004360944032669067, + "z": -1.6070078611373901 + }, + "rotation": { + "x": 0.003428330644965172, + "y": 0.002825607778504491, + "z": 359.70733642578125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|-03.58|+00.60|-01.62" + ], + "distance": 3.6033060550689697, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|-01.61", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.425083637237549, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.425083637237549, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.7844332456588745 + ] + ], + "center": { + "x": -3.5953938961029053, + "y": 0.3019649386405945, + "z": -1.6094589233398438 + }, + "size": { + "x": 0.3406205177307129, + "y": 0.6039294004440308, + "z": 0.3499486446380615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425757646560669, + -0.0015295855700969696, + -1.434476375579834 + ], + [ + -3.7657032012939453, + 0.0001298254355788231, + -1.4344571828842163 + ], + [ + -3.76572322845459, + 6.832834333181381e-05, + -1.7844345569610596 + ], + [ + -3.4257779121398926, + -0.0015910826623439789, + -1.7844538688659668 + ], + [ + -3.4228098392486572, + 0.6023802757263184, + -1.4345827102661133 + ], + [ + -3.7627553939819336, + 0.6040396690368652, + -1.4345635175704956 + ], + [ + -3.762775421142578, + 0.603978157043457, + -1.7845408916473389 + ], + [ + -3.4228298664093018, + 0.6023187637329102, + -1.7845600843429565 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.4000000953674316, + "y": 0.9009991884231567, + "z": 1.100000023841858 + }, + "agent_rotation": { + "x": -0.0, + "y": 214.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.4000000953674316, + "y": 1.5759992599487305, + "z": 1.100000023841858 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|+02.22|00.00|+00.15", + "Vase|+01.57|+00.78|-00.31", + "Vase|+01.84|+00.78|-00.30", + "Chair|+01.64|00.00|-00.85", + "Plate|+01.36|+00.78|-00.62", + "Window|+03.48|+01.51|-01.93", + "DiningTable|+01.88|+00.00|-00.29", + "Box|+01.27|+00.15|-00.29", + "Chair|+01.46|00.00|+00.20", + "Window|+01.48|+01.51|-01.93", + "Chair|+02.29|00.00|-00.78" + ], + "different_object": [ + "WateringCan|-03.25|00.00|-01.86", + "Sofa|-03.42|+00.01|-00.04", + "ArmChair|-02.01|+00.01|-01.58", + "Pillow|-01.93|+00.37|-01.49", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "SideTable|-03.60|+00.00|-01.61", + "HousePlant|-03.58|+00.60|-01.62", + "Window|-02.00|+01.51|-01.93" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/37/0_depth_npy.npy b/train/FloorPlan223_physics/37/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..858e5324f0b5b28f3c3fd04d2299e5e51741ebba --- /dev/null +++ b/train/FloorPlan223_physics/37/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fac795321268e642507fd23ba55e8543516617a0e3584671f336dc06daac1a3c +size 3145856 diff --git a/train/FloorPlan223_physics/37/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/37/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9e3e84b9cf79c4666b8189cd79d2e5acd2e8ce4a --- /dev/null +++ b/train/FloorPlan223_physics/37/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9af53390f59a158610e6eb299340e3fb690842f326794ea8e9fb0d05d33c2fb +size 2359424 diff --git a/train/FloorPlan223_physics/37/1.json b/train/FloorPlan223_physics/37/1.json new file mode 100644 index 0000000000000000000000000000000000000000..03edd4ab1db1cc3284466e9f8558aace90d0eb93 --- /dev/null +++ b/train/FloorPlan223_physics/37/1.json @@ -0,0 +1,2947 @@ +{ + "object": [ + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "object_info": { + "name": "FloorLamp_3964945b", + "position": { + "x": -0.33106115460395813, + "y": 0.0020943880081176758, + "z": 2.728121280670166 + }, + "rotation": { + "x": 0.028233468532562256, + "y": 359.9642333984375, + "z": 0.0124844741076231 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.8773627281188965, + "objectType": "FloorLamp", + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "assetId": "Floor_Lamp_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07376223802566528, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.470034599304199 + ] + ], + "center": { + "x": -0.33205798268318176, + "y": 0.9319358468055725, + "z": 2.7284581661224365 + }, + "size": { + "x": 0.516591489315033, + "y": 1.8638250827789307, + "z": 0.5168471336364746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.07385668158531189, + 4.743225872516632e-05, + 2.9870007038116455 + ], + [ + -0.5905872583389282, + -2.8995331376791e-05, + 2.986692190170288 + ], + [ + -0.5902788639068604, + 0.00010942760854959488, + 2.4699525833129883 + ], + [ + -0.0735483169555664, + 0.00018585508223623037, + 2.4702610969543457 + ], + [ + -0.07413265109062195, + 1.8638358116149902, + 2.987499713897705 + ], + [ + -0.5908632278442383, + 1.8637592792510986, + 2.9871912002563477 + ], + [ + -0.5905548334121704, + 1.8638978004455566, + 2.470451593399048 + ], + [ + -0.07382425665855408, + 1.8639740943908691, + 2.4707601070404053 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "object_info": { + "name": "GarbageCan_cf69fd43", + "position": { + "x": 0.29969024658203125, + "y": 7.18235969543457e-06, + "z": 1.2532256841659546 + }, + "rotation": { + "x": 0.0006593925645574927, + "y": 2.2150020599365234, + "z": -0.002282413886860013 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7383514642715454, + "objectType": "GarbageCan", + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4879261255264282, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.0650081634521484 + ] + ], + "center": { + "x": 0.2996993362903595, + "y": 0.32798317074775696, + "z": 1.2532281875610352 + }, + "size": { + "x": 0.37645357847213745, + "y": 0.6559673547744751, + "z": 0.37644004821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.49219784140586853, + -3.6668598113465123e-07, + 1.4313961267471313 + ], + [ + 0.12151965498924255, + 9.915489499690011e-06, + 1.4457334280014038 + ], + [ + 0.10718235373497009, + 1.3122078598826192e-05, + 1.0750552415847778 + ], + [ + 0.47786054015159607, + 2.839903572748881e-06, + 1.0607179403305054 + ], + [ + 0.49221622943878174, + 0.6559540033340454, + 1.431401014328003 + ], + [ + 0.12153804302215576, + 0.6559642553329468, + 1.4457383155822754 + ], + [ + 0.1072007417678833, + 0.6559674739837646, + 1.0750601291656494 + ], + [ + 0.4778789281845093, + 0.6559572219848633, + 1.060722827911377 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "object_info": { + "name": "DiningTable_42373f1f", + "position": { + "x": -1.8579727411270142, + "y": 0.2316993921995163, + "z": 2.7878525257110596 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75" + ], + "distance": 3.172408103942871, + "objectType": "DiningTable", + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.353766918182373, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.6145288944244385 + ] + ], + "center": { + "x": -1.8579730987548828, + "y": 0.27928826212882996, + "z": 2.787849187850952 + }, + "size": { + "x": 1.0084123611450195, + "y": 0.09547990560531616, + "z": 0.34664058685302734 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "Window|+03.48|+01.51|-01.93", + "object_info": { + "name": "Window_dea94267", + "position": { + "x": 3.4800000190734863, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.463291168212891, + "objectType": "Window", + "objectId": "Window|+03.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.960000514984131, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.960000514984131, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -2.0399999618530273 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -2.0399999618530273 + ] + ], + "center": { + "x": 3.5, + "y": 1.0739160776138306, + "z": -1.9994010925292969 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.147834062576294, + "z": 0.08119773864746094 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "object_info": { + "name": "ArmChair_4b8c6e75", + "position": { + "x": -0.43700525164604187, + "y": 0.005729973316192627, + "z": 1.9230469465255737 + }, + "rotation": { + "x": 4.141504905419424e-05, + "y": 270.00018310546875, + "z": -0.0001669862394919619 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1221652030944824, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04723113775253296, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.04723113775253296, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 1.5481648445129395 + ] + ], + "center": { + "x": -0.43125927448272705, + "y": 0.3626064956188202, + "z": 1.9265482425689697 + }, + "size": { + "x": 0.7680562734603882, + "y": 0.7252018451690674, + "z": 0.7567667961120605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8153156042098999, + 1.087365671992302e-05, + 2.3049323558807373 + ], + [ + -0.8153178691864014, + 1.3908371329307556e-05, + 1.5481648445129395 + ], + [ + -0.04725685715675354, + 1.4075078070163727e-05, + 1.548162579536438 + ], + [ + -0.04725465178489685, + 1.104036346077919e-05, + 2.3049302101135254 + ], + [ + -0.8153157830238342, + 0.7252148985862732, + 2.3049352169036865 + ], + [ + -0.8153179883956909, + 0.7252179384231567, + 1.5481677055358887 + ], + [ + -0.04725700616836548, + 0.7252180576324463, + 1.5481654405593872 + ], + [ + -0.04725480079650879, + 0.7252150177955627, + 2.3049330711364746 + ] + ] + } + } + }, + { + "objectId": "TVStand|-01.86|+00.00|+02.79", + "object_info": { + "name": "TVStand_3ce96f2f", + "position": { + "x": -1.8579983711242676, + "y": 0.00039079785346984863, + "z": 2.787977933883667 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Television|-01.86|+01.20|+02.70", + "RemoteControl|-02.29|+00.71|+02.75" + ], + "distance": 3.2292532920837402, + "objectType": "TVStand", + "objectId": "TVStand|-01.86|+00.00|+02.79", + "assetId": "TV_Stand_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3527679443359375, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -1.3527679443359375, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.6121463775634766 + ] + ], + "center": { + "x": -1.8609373569488525, + "y": 0.35679537057876587, + "z": 2.7879385948181152 + }, + "size": { + "x": 1.01633882522583, + "y": 0.7136019468307495, + "z": 0.35158443450927734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.3528119325637817, + 2.9323389753699303e-05, + 2.963749408721924 + ], + [ + -2.3691158294677734, + 7.576588541269302e-05, + 2.9637136459350586 + ], + [ + -2.36910343170166, + 3.9373175241053104e-05, + 2.61221981048584 + ], + [ + -1.352799654006958, + -7.069320417940617e-06, + 2.612255334854126 + ], + [ + -1.3527793884277344, + 0.7135501503944397, + 2.9636754989624023 + ], + [ + -2.3690831661224365, + 0.7135965824127197, + 2.963639736175537 + ], + [ + -2.3690710067749023, + 0.7135602235794067, + 2.6121459007263184 + ], + [ + -1.352766990661621, + 0.7135137915611267, + 2.6121814250946045 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Painting|-00.06|+01.60|+01.73", + "object_info": { + "name": "Painting_9a6f96ff", + "position": { + "x": -0.0560000017285347, + "y": 1.6019999980926514, + "z": 1.7330000400543213 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9214128255844116, + "objectType": "Painting", + "objectId": "Painting|-00.06|+01.60|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.02334464341402054, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 2.0239996910095215, + 1.168489694595337 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 1.168489694595337 + ] + ], + "center": { + "x": -0.02120792120695114, + "y": 1.598686695098877, + "z": 1.7579162120819092 + }, + "size": { + "x": 0.08910512924194336, + "y": 0.8506259918212891, + "z": 1.1788530349731445 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|-01.86|+01.20|+02.70", + "object_info": { + "name": "Television_430e1f04", + "position": { + "x": -1.8597434759140015, + "y": 1.200732946395874, + "z": 2.7014834880828857 + }, + "rotation": { + "x": 359.06036376953125, + "y": 179.99822998046875, + "z": -0.0007116764318197966 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.03920316696167, + "objectType": "Television", + "objectId": "Television|-01.86|+01.20|+02.70", + "assetId": "Television_23", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.359736442565918, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.594604730606079 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.594604730606079 + ] + ], + "center": { + "x": -1.8597421646118164, + "y": 1.1164844036102295, + "z": 2.7694149017333984 + }, + "size": { + "x": 1.0000114440917969, + "y": 0.8063507080078125, + "z": 0.34962034225463867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.359734058380127, + 0.7141113877296448, + 2.589648723602295 + ], + [ + -1.3597339391708374, + 0.7141237854957581, + 2.5896799564361572 + ], + [ + -1.359744906425476, + 0.7083142399787903, + 2.9438905715942383 + ], + [ + -2.3597450256347656, + 0.708301842212677, + 2.943859577178955 + ], + [ + -2.3597443103790283, + 1.5198802947998047, + 2.6028645038604736 + ], + [ + -1.3597443103790283, + 1.519892692565918, + 2.602895736694336 + ], + [ + -1.359755277633667, + 1.5140831470489502, + 2.957106351852417 + ], + [ + -2.359755277633667, + 1.514070749282837, + 2.9570751190185547 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Painting|+04.14|+01.59|-00.30", + "object_info": { + "name": "Painting_984aa9d5", + "position": { + "x": 4.136000156402588, + "y": 1.590999960899353, + "z": -0.296999990940094 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.696467399597168, + "objectType": "Painting", + "objectId": "Painting|+04.14|+01.59|-00.30", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.215344429016113, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.215344429016113, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 1.1690006256103516, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 1.1690006256103516, + -0.8613617420196533 + ] + ], + "center": { + "x": 4.170792102813721, + "y": 1.5914161205291748, + "z": -0.27200978994369507 + }, + "size": { + "x": 0.08910465240478516, + "y": 0.8448309898376465, + "z": 1.1787039041519165 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -1.0, + "y": 0.9009991884231567, + "z": -1.600000023841858 + }, + "agent_rotation": { + "x": -0.0, + "y": 47.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -1.0, + "y": 1.5759992599487305, + "z": -1.600000023841858 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|+02.22|00.00|+00.15", + "Vase|+01.57|+00.78|-00.31", + "Vase|+01.84|+00.78|-00.30", + "Chair|+01.64|00.00|-00.85", + "Plate|+01.36|+00.78|-00.62", + "Window|+03.48|+01.51|-01.93", + "DiningTable|+01.88|+00.00|-00.29", + "Box|+01.27|+00.15|-00.29", + "Chair|+01.46|00.00|+00.20", + "Window|+01.48|+01.51|-01.93", + "Chair|+02.29|00.00|-00.78" + ], + "different_object": [ + "GarbageCan|+00.30|+00.00|+01.25", + "Painting|-00.06|+01.60|+01.73", + "ArmChair|-00.44|+00.01|+01.92", + "Television|-01.86|+01.20|+02.70", + "TVStand|-01.86|+00.00|+02.79", + "DiningTable|-01.86|+00.23|+02.79", + "Painting|+04.14|+01.59|-00.30", + "FloorLamp|-00.33|+00.00|+02.73", + "ArmChair|-00.43|+00.01|+01.06" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/37/1_depth_npy.npy b/train/FloorPlan223_physics/37/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8e70220b643c80a28e824f8c69ab0169fe0ae8ce --- /dev/null +++ b/train/FloorPlan223_physics/37/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e2228585076c9d48cf6bb469610fac9bc4a2f0db7c5efc6158fb19d50d500fa +size 3145856 diff --git a/train/FloorPlan223_physics/37/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/37/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..db7499c586de13ee99a2834bcb3cd3dd815fe70a --- /dev/null +++ b/train/FloorPlan223_physics/37/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3f9cc66c13a62bc86a94afd1bf7699757f694c30cf36efe15d3dc47d9353ceb +size 2359424 diff --git a/train/FloorPlan223_physics/37/depth_0.png b/train/FloorPlan223_physics/37/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..5f36629c72a827818a3778e2d6d01733083b32f9 Binary files /dev/null and b/train/FloorPlan223_physics/37/depth_0.png differ diff --git a/train/FloorPlan223_physics/37/depth_1.png b/train/FloorPlan223_physics/37/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..f6e4ef4659e18424be2d61ada59e90db324e67ea Binary files /dev/null and b/train/FloorPlan223_physics/37/depth_1.png differ diff --git a/train/FloorPlan223_physics/37/mask_questions.jsonl b/train/FloorPlan223_physics/37/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a0144d07db48cf22cf1368dd46816251d60edc5 --- /dev/null +++ b/train/FloorPlan223_physics/37/mask_questions.jsonl @@ -0,0 +1,8 @@ +{"id": 20377, "folder_dir": "FloorPlan223_physics/37", "pair_name": "0-1:Window|+03.48|+01.51|-01.93", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. Sofa\nC. Chair\nD. Laptop", "answer": "A", "object_name": "Window", "image_1": "FloorPlan223_physics/37/rgb_0.png", "image_2": "FloorPlan223_physics/37/rgb_1.png", "mask_image": "FloorPlan223_physics/37/rgb_1_mask_Window|+03.48|+01.51|-01.93.png", "options": ["Window", "Sofa", "Chair", "Laptop"]} +{"id": 20378, "folder_dir": "FloorPlan223_physics/37", "pair_name": "0-1:Box|+01.27|+00.15|-00.29", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. WateringCan\nB. Chair\nC. CoffeeTable\nD. Box", "answer": "D", "object_name": "Box", "image_1": "FloorPlan223_physics/37/rgb_0.png", "image_2": "FloorPlan223_physics/37/rgb_1.png", "mask_image": "FloorPlan223_physics/37/rgb_1_mask_Box|+01.27|+00.15|-00.29.png", "options": ["WateringCan", "Chair", "CoffeeTable", "Box"]} +{"id": 20379, "folder_dir": "FloorPlan223_physics/37", "pair_name": "0-1:Chair|+01.46|00.00|+00.20", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. WateringCan\nB. Chair\nC. Chair\nD. Window", "answer": "B", "object_name": "Chair", "image_1": "FloorPlan223_physics/37/rgb_0.png", "image_2": "FloorPlan223_physics/37/rgb_1.png", "mask_image": "FloorPlan223_physics/37/rgb_1_mask_Chair|+01.46|00.00|+00.20.png", "options": ["WateringCan", "Chair", "Chair", "Window"]} +{"id": 20380, "folder_dir": "FloorPlan223_physics/37", "pair_name": "0-1:Window|+01.48|+01.51|-01.93", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CoffeeTable\nB. Chair\nC. Window\nD. ArmChair", "answer": "C", "object_name": "Window", "image_1": "FloorPlan223_physics/37/rgb_0.png", "image_2": "FloorPlan223_physics/37/rgb_1.png", "mask_image": "FloorPlan223_physics/37/rgb_1_mask_Window|+01.48|+01.51|-01.93.png", "options": ["CoffeeTable", "Chair", "Window", "ArmChair"]} +{"id": 20381, "folder_dir": "FloorPlan223_physics/37", "pair_name": "1-0:Window|+03.48|+01.51|-01.93", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. ArmChair\nC. Chair\nD. Television", "answer": "A", "object_name": "Window", "image_1": "FloorPlan223_physics/37/rgb_1.png", "image_2": "FloorPlan223_physics/37/rgb_0.png", "mask_image": "FloorPlan223_physics/37/rgb_0_mask_Window|+03.48|+01.51|-01.93.png", "options": ["Window", "ArmChair", "Chair", "Television"]} +{"id": 20382, "folder_dir": "FloorPlan223_physics/37", "pair_name": "1-0:Chair|+01.46|00.00|+00.20", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. ArmChair\nC. DiningTable\nD. Chair", "answer": "A", "object_name": "Chair", "image_1": "FloorPlan223_physics/37/rgb_1.png", "image_2": "FloorPlan223_physics/37/rgb_0.png", "mask_image": "FloorPlan223_physics/37/rgb_0_mask_Chair|+01.46|00.00|+00.20.png", "options": ["Chair", "ArmChair", "DiningTable", "Chair"]} +{"id": 20383, "folder_dir": "FloorPlan223_physics/37", "pair_name": "1-0:Window|+01.48|+01.51|-01.93", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. TVStand\nC. Window\nD. Chair", "answer": "C", "object_name": "Window", "image_1": "FloorPlan223_physics/37/rgb_1.png", "image_2": "FloorPlan223_physics/37/rgb_0.png", "mask_image": "FloorPlan223_physics/37/rgb_0_mask_Window|+01.48|+01.51|-01.93.png", "options": ["GarbageCan", "TVStand", "Window", "Chair"]} +{"id": 20384, "folder_dir": "FloorPlan223_physics/37", "pair_name": "1-0:Chair|+02.29|00.00|-00.78", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. FloorLamp\nB. Chair\nC. TVStand\nD. Chair", "answer": "B", "object_name": "Chair", "image_1": "FloorPlan223_physics/37/rgb_1.png", "image_2": "FloorPlan223_physics/37/rgb_0.png", "mask_image": "FloorPlan223_physics/37/rgb_0_mask_Chair|+02.29|00.00|-00.78.png", "options": ["FloorLamp", "Chair", "TVStand", "Chair"]} diff --git a/train/FloorPlan223_physics/37/rgb_0.png b/train/FloorPlan223_physics/37/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ceac416e2487ecf0647ac7d43c871bb562f1b075 --- /dev/null +++ b/train/FloorPlan223_physics/37/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8eeffaea9054d194210bc1a3ddb9b2fe41aff3f5cd030b5081bb7148d14e13e0 +size 836765 diff --git a/train/FloorPlan223_physics/37/rgb_0_mask_Chair|+01.46|00.00|+00.20.png b/train/FloorPlan223_physics/37/rgb_0_mask_Chair|+01.46|00.00|+00.20.png new file mode 100644 index 0000000000000000000000000000000000000000..79ca81f713c7a605a151348cd7594290e2ea0498 --- /dev/null +++ b/train/FloorPlan223_physics/37/rgb_0_mask_Chair|+01.46|00.00|+00.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0646527f9fcd551676f60020d5237b884019da388f8df18343d0e5ab52b4b5f5 +size 701206 diff --git a/train/FloorPlan223_physics/37/rgb_0_mask_Chair|+02.29|00.00|-00.78.png b/train/FloorPlan223_physics/37/rgb_0_mask_Chair|+02.29|00.00|-00.78.png new file mode 100644 index 0000000000000000000000000000000000000000..06545e9df89071b6f2ef98e3e7d5d4e667fe5e3e --- /dev/null +++ b/train/FloorPlan223_physics/37/rgb_0_mask_Chair|+02.29|00.00|-00.78.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5102d216d3336c6318d03e08f09cfb8c3a8506acb13d2b20120b9565fdfc6bbe +size 726494 diff --git a/train/FloorPlan223_physics/37/rgb_0_mask_Window|+01.48|+01.51|-01.93.png b/train/FloorPlan223_physics/37/rgb_0_mask_Window|+01.48|+01.51|-01.93.png new file mode 100644 index 0000000000000000000000000000000000000000..10679b702233e999ea8bf7d35b89997c7a1e9db2 --- /dev/null +++ b/train/FloorPlan223_physics/37/rgb_0_mask_Window|+01.48|+01.51|-01.93.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efe42f5ef7be412ac62f2bb7e1eb68ba13bd54d894b49fa7c162f22c9ef506d8 +size 729204 diff --git a/train/FloorPlan223_physics/37/rgb_0_mask_Window|+03.48|+01.51|-01.93.png b/train/FloorPlan223_physics/37/rgb_0_mask_Window|+03.48|+01.51|-01.93.png new file mode 100644 index 0000000000000000000000000000000000000000..36d2391cd4f1d559cc0efd42808ac374c63f42de --- /dev/null +++ b/train/FloorPlan223_physics/37/rgb_0_mask_Window|+03.48|+01.51|-01.93.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eaec1e5b636ec3c3a66218a122fb8018e77c7d8cdffcdf09b3cd9c67d1b2f7f4 +size 719274 diff --git a/train/FloorPlan223_physics/37/rgb_1.png b/train/FloorPlan223_physics/37/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..cd324c6524667dcba4889305f37132f223904f97 --- /dev/null +++ b/train/FloorPlan223_physics/37/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9de2d5c08677910725a5f988655cafbbbb50ad04229c0de860e7a64ed2c96f3d +size 864498 diff --git a/train/FloorPlan223_physics/37/rgb_1_mask_Box|+01.27|+00.15|-00.29.png b/train/FloorPlan223_physics/37/rgb_1_mask_Box|+01.27|+00.15|-00.29.png new file mode 100644 index 0000000000000000000000000000000000000000..371df9006656482bd89fb72cc248d2e05a1e20c9 --- /dev/null +++ b/train/FloorPlan223_physics/37/rgb_1_mask_Box|+01.27|+00.15|-00.29.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d5beb4e833d70d06474839769e11e36e5d380ad27d6aa49ee46c5fa32cce05f +size 755799 diff --git a/train/FloorPlan223_physics/37/rgb_1_mask_Chair|+01.46|00.00|+00.20.png b/train/FloorPlan223_physics/37/rgb_1_mask_Chair|+01.46|00.00|+00.20.png new file mode 100644 index 0000000000000000000000000000000000000000..8fd8a4754abb6e5459e0362d668bce098eca0737 --- /dev/null +++ b/train/FloorPlan223_physics/37/rgb_1_mask_Chair|+01.46|00.00|+00.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cab093631e0a130f5ad5f9785eba30abd458b14a10852b6338823022a82333b +size 753566 diff --git a/train/FloorPlan223_physics/37/rgb_1_mask_Window|+01.48|+01.51|-01.93.png b/train/FloorPlan223_physics/37/rgb_1_mask_Window|+01.48|+01.51|-01.93.png new file mode 100644 index 0000000000000000000000000000000000000000..3a6a97ed2b430fde10660f14ad141139c5ebe85a --- /dev/null +++ b/train/FloorPlan223_physics/37/rgb_1_mask_Window|+01.48|+01.51|-01.93.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e60a52d9ea2e253c511e24da20b9007ff03ae62d452b9ecbc30eaa8b1ba34e51 +size 748693 diff --git a/train/FloorPlan223_physics/37/rgb_1_mask_Window|+03.48|+01.51|-01.93.png b/train/FloorPlan223_physics/37/rgb_1_mask_Window|+03.48|+01.51|-01.93.png new file mode 100644 index 0000000000000000000000000000000000000000..6d5ca9479c645a08b6395196f6a3f25e98ac2011 --- /dev/null +++ b/train/FloorPlan223_physics/37/rgb_1_mask_Window|+03.48|+01.51|-01.93.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4bf75d0892990bd52fe558ddecdb30d4911f013282534ffba79309d9fefcd7b +size 760443 diff --git a/train/FloorPlan223_physics/37/semantic_0.png b/train/FloorPlan223_physics/37/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..64478f1ef5b930a720f36c5af7bad74df8c09337 Binary files /dev/null and b/train/FloorPlan223_physics/37/semantic_0.png differ diff --git a/train/FloorPlan223_physics/37/semantic_1.png b/train/FloorPlan223_physics/37/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e4e2abafc035a7472c73067b2c0e13434267d385 Binary files /dev/null and b/train/FloorPlan223_physics/37/semantic_1.png differ diff --git a/train/FloorPlan223_physics/38/0.json b/train/FloorPlan223_physics/38/0.json new file mode 100644 index 0000000000000000000000000000000000000000..46f1306bb6439b76069bcabecf2c81aeebcb9427 --- /dev/null +++ b/train/FloorPlan223_physics/38/0.json @@ -0,0 +1,1468 @@ +{ + "object": [ + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Window|+03.48|+01.51|-01.93", + "object_info": { + "name": "Window_dea94267", + "position": { + "x": 3.4800000190734863, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.463291168212891, + "objectType": "Window", + "objectId": "Window|+03.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.960000514984131, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.960000514984131, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -2.0399999618530273 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -2.0399999618530273 + ] + ], + "center": { + "x": 3.5, + "y": 1.0739160776138306, + "z": -1.9994010925292969 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.147834062576294, + "z": 0.08119773864746094 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 2.6000001430511475, + "y": 0.9009991884231567, + "z": 0.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 188.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 2.6000001430511475, + "y": 1.5759992599487305, + "z": 0.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Vase|+01.57|+00.78|-00.31", + "Vase|+01.84|+00.78|-00.30", + "Chair|+01.64|00.00|-00.85", + "Plate|+01.36|+00.78|-00.62", + "Window|+03.48|+01.51|-01.93", + "DiningTable|+01.88|+00.00|-00.29", + "Chair|+02.29|00.00|-00.78" + ], + "different_object": [ + "Window|-02.00|+01.51|-01.93", + "Window|+01.48|+01.51|-01.93", + "ArmChair|-02.01|+00.01|-01.58" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/38/0_depth_npy.npy b/train/FloorPlan223_physics/38/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f5d819d68f6fb936580d0423b53cd469102e3c75 --- /dev/null +++ b/train/FloorPlan223_physics/38/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcbd4cd73150b638e906305a53952e708582754b6bc8bd605329285320ff2c2a +size 3145856 diff --git a/train/FloorPlan223_physics/38/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/38/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8c946529f1b9dbf0855e8e33815ab3ed87b74859 --- /dev/null +++ b/train/FloorPlan223_physics/38/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4bdeab47d94ec9b98bbcf00bf716d4de4887deeee379fc608df6e5221b5c4da +size 2359424 diff --git a/train/FloorPlan223_physics/38/1.json b/train/FloorPlan223_physics/38/1.json new file mode 100644 index 0000000000000000000000000000000000000000..517393421b74a51bfdb9cd12b5b2230eebab1021 --- /dev/null +++ b/train/FloorPlan223_physics/38/1.json @@ -0,0 +1,1830 @@ +{ + "object": [ + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "object_info": { + "name": "GarbageCan_cf69fd43", + "position": { + "x": 0.29969024658203125, + "y": 7.18235969543457e-06, + "z": 1.2532256841659546 + }, + "rotation": { + "x": 0.0006593925645574927, + "y": 2.2150020599365234, + "z": -0.002282413886860013 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7383514642715454, + "objectType": "GarbageCan", + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4879261255264282, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.0650081634521484 + ] + ], + "center": { + "x": 0.2996993362903595, + "y": 0.32798317074775696, + "z": 1.2532281875610352 + }, + "size": { + "x": 0.37645357847213745, + "y": 0.6559673547744751, + "z": 0.37644004821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.49219784140586853, + -3.6668598113465123e-07, + 1.4313961267471313 + ], + [ + 0.12151965498924255, + 9.915489499690011e-06, + 1.4457334280014038 + ], + [ + 0.10718235373497009, + 1.3122078598826192e-05, + 1.0750552415847778 + ], + [ + 0.47786054015159607, + 2.839903572748881e-06, + 1.0607179403305054 + ], + [ + 0.49221622943878174, + 0.6559540033340454, + 1.431401014328003 + ], + [ + 0.12153804302215576, + 0.6559642553329468, + 1.4457383155822754 + ], + [ + 0.1072007417678833, + 0.6559674739837646, + 1.0750601291656494 + ], + [ + 0.4778789281845093, + 0.6559572219848633, + 1.060722827911377 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "Window|+03.48|+01.51|-01.93", + "object_info": { + "name": "Window_dea94267", + "position": { + "x": 3.4800000190734863, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.463291168212891, + "objectType": "Window", + "objectId": "Window|+03.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.960000514984131, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.960000514984131, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -2.0399999618530273 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -2.0399999618530273 + ] + ], + "center": { + "x": 3.5, + "y": 1.0739160776138306, + "z": -1.9994010925292969 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.147834062576294, + "z": 0.08119773864746094 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Painting|+04.14|+01.59|-00.30", + "object_info": { + "name": "Painting_984aa9d5", + "position": { + "x": 4.136000156402588, + "y": 1.590999960899353, + "z": -0.296999990940094 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.696467399597168, + "objectType": "Painting", + "objectId": "Painting|+04.14|+01.59|-00.30", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.215344429016113, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.215344429016113, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 1.1690006256103516, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 1.1690006256103516, + -0.8613617420196533 + ] + ], + "center": { + "x": 4.170792102813721, + "y": 1.5914161205291748, + "z": -0.27200978994369507 + }, + "size": { + "x": 0.08910465240478516, + "y": 0.8448309898376465, + "z": 1.1787039041519165 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -0.09999999403953552, + "y": 0.9009991884231567, + "z": -0.30000001192092896 + }, + "agent_rotation": { + "x": -0.0, + "y": 61.000003814697266, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -0.09999999403953552, + "y": 1.5759992599487305, + "z": -0.30000001192092896 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Vase|+01.57|+00.78|-00.31", + "Vase|+01.84|+00.78|-00.30", + "Chair|+01.64|00.00|-00.85", + "Plate|+01.36|+00.78|-00.62", + "Window|+03.48|+01.51|-01.93", + "DiningTable|+01.88|+00.00|-00.29", + "Chair|+02.29|00.00|-00.78" + ], + "different_object": [ + "Chair|+02.22|00.00|+00.15", + "GarbageCan|+00.30|+00.00|+01.25", + "Chair|+01.46|00.00|+00.20", + "Box|+01.27|+00.15|-00.29", + "Painting|+04.14|+01.59|-00.30" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/38/1_depth_npy.npy b/train/FloorPlan223_physics/38/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fab7a5fd32c22a9756346546dee56848beec388b --- /dev/null +++ b/train/FloorPlan223_physics/38/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d20980202228cc554b93cd5e88b7bf1fb7fc63bccb45c785f7d6637862d73933 +size 3145856 diff --git a/train/FloorPlan223_physics/38/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/38/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e91f627b163009922652b73d68abe61191ca8d8b --- /dev/null +++ b/train/FloorPlan223_physics/38/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b7d4175e56a8326fcafb7b50131c5845d8ac821b482d71a68d6f9aa72aeffeb +size 2359424 diff --git a/train/FloorPlan223_physics/38/depth_0.png b/train/FloorPlan223_physics/38/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2f59c8d0ed60d3439df4acd91d53883c53f666dc Binary files /dev/null and b/train/FloorPlan223_physics/38/depth_0.png differ diff --git a/train/FloorPlan223_physics/38/depth_1.png b/train/FloorPlan223_physics/38/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9495407267699052f81f715f7e2dcebac98a26dc Binary files /dev/null and b/train/FloorPlan223_physics/38/depth_1.png differ diff --git a/train/FloorPlan223_physics/38/mask_questions.jsonl b/train/FloorPlan223_physics/38/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f322d8618a09e9e397f642529aabd254f44dd1a --- /dev/null +++ b/train/FloorPlan223_physics/38/mask_questions.jsonl @@ -0,0 +1,8 @@ +{"id": 20345, "folder_dir": "FloorPlan223_physics/38", "pair_name": "0-1:Vase|+01.84|+00.78|-00.30", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Vase\nB. Vase\nC. Window\nD. ArmChair", "answer": "A", "object_name": "Vase", "image_1": "FloorPlan223_physics/38/rgb_0.png", "image_2": "FloorPlan223_physics/38/rgb_1.png", "mask_image": "FloorPlan223_physics/38/rgb_1_mask_Vase|+01.84|+00.78|-00.30.png", "options": ["Vase", "Vase", "Window", "ArmChair"]} +{"id": 20346, "folder_dir": "FloorPlan223_physics/38", "pair_name": "0-1:Plate|+01.36|+00.78|-00.62", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plate\nB. Window\nC. Vase\nD. Window", "answer": "A", "object_name": "Plate", "image_1": "FloorPlan223_physics/38/rgb_0.png", "image_2": "FloorPlan223_physics/38/rgb_1.png", "mask_image": "FloorPlan223_physics/38/rgb_1_mask_Plate|+01.36|+00.78|-00.62.png", "options": ["Plate", "Window", "Vase", "Window"]} +{"id": 20347, "folder_dir": "FloorPlan223_physics/38", "pair_name": "0-1:Window|+03.48|+01.51|-01.93", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. ArmChair\nC. Vase\nD. None", "answer": "A", "object_name": "Window", "image_1": "FloorPlan223_physics/38/rgb_0.png", "image_2": "FloorPlan223_physics/38/rgb_1.png", "mask_image": "FloorPlan223_physics/38/rgb_1_mask_Window|+03.48|+01.51|-01.93.png", "options": ["Window", "ArmChair", "Vase", "None"]} +{"id": 20348, "folder_dir": "FloorPlan223_physics/38", "pair_name": "0-1:Chair|+02.29|00.00|-00.78", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. ArmChair\nC. Vase\nD. Chair", "answer": "D", "object_name": "Chair", "image_1": "FloorPlan223_physics/38/rgb_0.png", "image_2": "FloorPlan223_physics/38/rgb_1.png", "mask_image": "FloorPlan223_physics/38/rgb_1_mask_Chair|+02.29|00.00|-00.78.png", "options": ["Window", "ArmChair", "Vase", "Chair"]} +{"id": 20349, "folder_dir": "FloorPlan223_physics/38", "pair_name": "1-0:Chair|+01.64|00.00|-00.85", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Vase\nB. Painting\nC. Box\nD. Chair", "answer": "D", "object_name": "Chair", "image_1": "FloorPlan223_physics/38/rgb_1.png", "image_2": "FloorPlan223_physics/38/rgb_0.png", "mask_image": "FloorPlan223_physics/38/rgb_0_mask_Chair|+01.64|00.00|-00.85.png", "options": ["Vase", "Painting", "Box", "Chair"]} +{"id": 20350, "folder_dir": "FloorPlan223_physics/38", "pair_name": "1-0:Plate|+01.36|+00.78|-00.62", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Vase\nB. Chair\nC. Box\nD. Plate", "answer": "D", "object_name": "Plate", "image_1": "FloorPlan223_physics/38/rgb_1.png", "image_2": "FloorPlan223_physics/38/rgb_0.png", "mask_image": "FloorPlan223_physics/38/rgb_0_mask_Plate|+01.36|+00.78|-00.62.png", "options": ["Vase", "Chair", "Box", "Plate"]} +{"id": 20351, "folder_dir": "FloorPlan223_physics/38", "pair_name": "1-0:Window|+03.48|+01.51|-01.93", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. GarbageCan\nC. Chair\nD. Vase", "answer": "A", "object_name": "Window", "image_1": "FloorPlan223_physics/38/rgb_1.png", "image_2": "FloorPlan223_physics/38/rgb_0.png", "mask_image": "FloorPlan223_physics/38/rgb_0_mask_Window|+03.48|+01.51|-01.93.png", "options": ["Window", "GarbageCan", "Chair", "Vase"]} +{"id": 20352, "folder_dir": "FloorPlan223_physics/38", "pair_name": "1-0:Chair|+02.29|00.00|-00.78", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Vase\nB. Painting\nC. Chair\nD. GarbageCan", "answer": "C", "object_name": "Chair", "image_1": "FloorPlan223_physics/38/rgb_1.png", "image_2": "FloorPlan223_physics/38/rgb_0.png", "mask_image": "FloorPlan223_physics/38/rgb_0_mask_Chair|+02.29|00.00|-00.78.png", "options": ["Vase", "Painting", "Chair", "GarbageCan"]} diff --git a/train/FloorPlan223_physics/38/questions_distance.jsonl b/train/FloorPlan223_physics/38/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d07ca79987af39c975e988480ee0b0659f52c8c8 --- /dev/null +++ b/train/FloorPlan223_physics/38/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 6014, "folder_dir": "FloorPlan223_physics/38", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. Plate\nC. Box\nD. Other\n", "answer": "C", "src_object": "DiningTable", "target_object": "Box", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "GarbageCan", "semantic_id": "GarbageCan|+00.30|+00.00|+01.25", "distance": 2.2139714883209467, "com": {"x": 0.2996993362903595, "y": 0.32798317074775696, "z": 1.2532281875610352}}, {"text": "Plate", "semantic_id": "Plate|+01.36|+00.78|-00.62", "distance": 0.7378836752432911, "com": {"x": 1.36051607131958, "y": 0.7897693514823914, "z": -0.6254259347915649}}, {"text": "Box", "semantic_id": "Box|+01.27|+00.15|-00.29", "distance": 0.6851397287211983, "com": {"x": 1.2528727054595947, "y": 0.13431625068187714, "z": -0.365255743265152}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/38/rgb_0.png", "image_2": "FloorPlan223_physics/38/rgb_1.png"} diff --git a/train/FloorPlan223_physics/38/rgb_0.png b/train/FloorPlan223_physics/38/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..1aed319aa5a1076b8c02fa56db3efad0d9ee060b --- /dev/null +++ b/train/FloorPlan223_physics/38/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a1099bf37f9960788c9eaa01f712902abbd30c4913e9c264750422e1b98b0de +size 722037 diff --git a/train/FloorPlan223_physics/38/rgb_0_mask_Chair|+01.64|00.00|-00.85.png b/train/FloorPlan223_physics/38/rgb_0_mask_Chair|+01.64|00.00|-00.85.png new file mode 100644 index 0000000000000000000000000000000000000000..caa943585515ea7311bbeac5900ea4b420a5466c --- /dev/null +++ b/train/FloorPlan223_physics/38/rgb_0_mask_Chair|+01.64|00.00|-00.85.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84efa97ae9bcdc1a83a546ab373b7fb5f6e210f95320b3fb8782afe111e5f208 +size 631583 diff --git a/train/FloorPlan223_physics/38/rgb_0_mask_Chair|+02.29|00.00|-00.78.png b/train/FloorPlan223_physics/38/rgb_0_mask_Chair|+02.29|00.00|-00.78.png new file mode 100644 index 0000000000000000000000000000000000000000..be286c3c024841c829afcf407d5b5f2061102cdb --- /dev/null +++ b/train/FloorPlan223_physics/38/rgb_0_mask_Chair|+02.29|00.00|-00.78.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12e9b0298ff8ef72d85d7c0a73eef8dcf455dd7db4732833f4320eead8e50b4c +size 631675 diff --git a/train/FloorPlan223_physics/38/rgb_0_mask_Plate|+01.36|+00.78|-00.62.png b/train/FloorPlan223_physics/38/rgb_0_mask_Plate|+01.36|+00.78|-00.62.png new file mode 100644 index 0000000000000000000000000000000000000000..3c35cfe6187c124fb7e9417e0f67be7ce2bd287f --- /dev/null +++ b/train/FloorPlan223_physics/38/rgb_0_mask_Plate|+01.36|+00.78|-00.62.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77f3fc306d788b81c4fd026afe5a9d99d1e54331fd7b851eafbd6cdf02d7c080 +size 633767 diff --git a/train/FloorPlan223_physics/38/rgb_0_mask_Window|+03.48|+01.51|-01.93.png b/train/FloorPlan223_physics/38/rgb_0_mask_Window|+03.48|+01.51|-01.93.png new file mode 100644 index 0000000000000000000000000000000000000000..2412cc2d84de469c922862f77f0fb9f9cc447910 --- /dev/null +++ b/train/FloorPlan223_physics/38/rgb_0_mask_Window|+03.48|+01.51|-01.93.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d411aaafdfda47733409562e14be14a3c6f5b042783ba7119f2d179cbc46ed2 +size 625428 diff --git a/train/FloorPlan223_physics/38/rgb_1.png b/train/FloorPlan223_physics/38/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..3dcefa1fd95ae165a9d708df23d547e745abece8 --- /dev/null +++ b/train/FloorPlan223_physics/38/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:211d07101e48859143e2833a19a72348f2db7d8ded1ef89933916c0ce20cc3e3 +size 876090 diff --git a/train/FloorPlan223_physics/38/rgb_1_mask_Chair|+02.29|00.00|-00.78.png b/train/FloorPlan223_physics/38/rgb_1_mask_Chair|+02.29|00.00|-00.78.png new file mode 100644 index 0000000000000000000000000000000000000000..cf3da48639665f40d469c253f69e1d2d8e1b1cc0 --- /dev/null +++ b/train/FloorPlan223_physics/38/rgb_1_mask_Chair|+02.29|00.00|-00.78.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd18f161dc84794213f896c6230448d64301a0d37dbed265b60444eefed837b1 +size 763811 diff --git a/train/FloorPlan223_physics/38/rgb_1_mask_Plate|+01.36|+00.78|-00.62.png b/train/FloorPlan223_physics/38/rgb_1_mask_Plate|+01.36|+00.78|-00.62.png new file mode 100644 index 0000000000000000000000000000000000000000..ac9b256571650fd8dc5d2db0b95201100753767e --- /dev/null +++ b/train/FloorPlan223_physics/38/rgb_1_mask_Plate|+01.36|+00.78|-00.62.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3534896f5b7a36b664b5656b35fea12d9eb835ca5c5d2d121d7ae956f3e8528c +size 763368 diff --git a/train/FloorPlan223_physics/38/rgb_1_mask_Vase|+01.84|+00.78|-00.30.png b/train/FloorPlan223_physics/38/rgb_1_mask_Vase|+01.84|+00.78|-00.30.png new file mode 100644 index 0000000000000000000000000000000000000000..c18f71e439c9e458ecd3682dd2569577afdf95a7 --- /dev/null +++ b/train/FloorPlan223_physics/38/rgb_1_mask_Vase|+01.84|+00.78|-00.30.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44c73b847c743d06f72a5b57e0915d9eb7b422e35bb8390d8d95775325fdc393 +size 766483 diff --git a/train/FloorPlan223_physics/38/rgb_1_mask_Window|+03.48|+01.51|-01.93.png b/train/FloorPlan223_physics/38/rgb_1_mask_Window|+03.48|+01.51|-01.93.png new file mode 100644 index 0000000000000000000000000000000000000000..617e00d53a1c031b0774f14b1da05f0da1279370 --- /dev/null +++ b/train/FloorPlan223_physics/38/rgb_1_mask_Window|+03.48|+01.51|-01.93.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fda69a5c9437e7b47fba29efc8cbbab4230d27dc74fb1d519e1cd14aebfb336b +size 768052 diff --git a/train/FloorPlan223_physics/38/semantic_0.png b/train/FloorPlan223_physics/38/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..069b43499355d7e55287fdc6baec3660b599174e Binary files /dev/null and b/train/FloorPlan223_physics/38/semantic_0.png differ diff --git a/train/FloorPlan223_physics/38/semantic_1.png b/train/FloorPlan223_physics/38/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..d43b13a5378978ceefe87a0f5f9212f7aa5c315d Binary files /dev/null and b/train/FloorPlan223_physics/38/semantic_1.png differ diff --git a/train/FloorPlan223_physics/42/0.json b/train/FloorPlan223_physics/42/0.json new file mode 100644 index 0000000000000000000000000000000000000000..fc64d602cd049c2d3668350d48f7587094cac7ec --- /dev/null +++ b/train/FloorPlan223_physics/42/0.json @@ -0,0 +1,2565 @@ +{ + "object": [ + { + "objectId": "Statue|-02.04|+00.24|+02.75", + "object_info": { + "name": "Statue_2147f514", + "position": { + "x": -2.0441362857818604, + "y": 0.2397981435060501, + "z": 2.7487399578094482 + }, + "rotation": { + "x": 0.5867406129837036, + "y": 359.98504638671875, + "z": 0.9680944681167603 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Stone" + ], + "receptacleObjectIds": null, + "distance": 3.221353054046631, + "objectType": "Statue", + "objectId": "Statue|-02.04|+00.24|+02.75", + "assetId": "Dog_Statue_4", + "parentReceptacles": [ + "DiningTable|-01.86|+00.23|+02.79", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.9340085983276367, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.7116007804870605 + ] + ], + "center": { + "x": -2.067904472351074, + "y": 0.33797669410705566, + "z": 2.777303695678711 + }, + "size": { + "x": 0.267791748046875, + "y": 0.20818185806274414, + "z": 0.13140583038330078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.932020902633667, + 0.23496071994304657, + 2.8412842750549316 + ], + [ + -2.2012362480163574, + 0.23041173815727234, + 2.841167449951172 + ], + [ + -2.201202392578125, + 0.2317402958869934, + 2.711437225341797 + ], + [ + -1.9319870471954346, + 0.23628926277160645, + 2.7115540504455566 + ], + [ + -1.9355692863464355, + 0.44490715861320496, + 2.843433380126953 + ], + [ + -2.204784631729126, + 0.44035816192626953, + 2.8433165550231934 + ], + [ + -2.2047507762908936, + 0.4416867196559906, + 2.7135863304138184 + ], + [ + -1.9355354309082031, + 0.446235716342926, + 2.713703155517578 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "object_info": { + "name": "FloorLamp_3964945b", + "position": { + "x": -0.33106115460395813, + "y": 0.0020943880081176758, + "z": 2.728121280670166 + }, + "rotation": { + "x": 0.028233468532562256, + "y": 359.9642333984375, + "z": 0.0124844741076231 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.8773627281188965, + "objectType": "FloorLamp", + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "assetId": "Floor_Lamp_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07376223802566528, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.470034599304199 + ] + ], + "center": { + "x": -0.33205798268318176, + "y": 0.9319358468055725, + "z": 2.7284581661224365 + }, + "size": { + "x": 0.516591489315033, + "y": 1.8638250827789307, + "z": 0.5168471336364746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.07385668158531189, + 4.743225872516632e-05, + 2.9870007038116455 + ], + [ + -0.5905872583389282, + -2.8995331376791e-05, + 2.986692190170288 + ], + [ + -0.5902788639068604, + 0.00010942760854959488, + 2.4699525833129883 + ], + [ + -0.0735483169555664, + 0.00018585508223623037, + 2.4702610969543457 + ], + [ + -0.07413265109062195, + 1.8638358116149902, + 2.987499713897705 + ], + [ + -0.5908632278442383, + 1.8637592792510986, + 2.9871912002563477 + ], + [ + -0.5905548334121704, + 1.8638978004455566, + 2.470451593399048 + ], + [ + -0.07382425665855408, + 1.8639740943908691, + 2.4707601070404053 + ] + ] + } + } + }, + { + "objectId": "Candle|-01.54|+00.23|+02.74", + "object_info": { + "name": "Candle_f40c2f5f", + "position": { + "x": -1.536789894104004, + "y": 0.2342444658279419, + "z": 2.7418534755706787 + }, + "rotation": { + "x": 0.09415348619222641, + "y": 359.6438903808594, + "z": 0.19696395099163055 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Wax" + ], + "receptacleObjectIds": null, + "distance": 3.0062029361724854, + "objectType": "Candle", + "objectId": "Candle|-01.54|+00.23|+02.74", + "assetId": "Candle_6", + "parentReceptacles": [ + "DiningTable|-01.86|+00.23|+02.79", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5155794620513916, + 0.40167558193206787, + 2.7630717754364014 + ], + [ + -1.5155794620513916, + 0.40167558193206787, + 2.7206437587738037 + ], + [ + -1.5155794620513916, + 0.23379802703857422, + 2.7630717754364014 + ], + [ + -1.5155794620513916, + 0.23379802703857422, + 2.7206437587738037 + ], + [ + -1.5580174922943115, + 0.40167558193206787, + 2.7630717754364014 + ], + [ + -1.5580174922943115, + 0.40167558193206787, + 2.7206437587738037 + ], + [ + -1.5580174922943115, + 0.23379802703857422, + 2.7630717754364014 + ], + [ + -1.5580174922943115, + 0.23379802703857422, + 2.7206437587738037 + ] + ], + "center": { + "x": -1.5367984771728516, + "y": 0.31773680448532104, + "z": 2.7418577671051025 + }, + "size": { + "x": 0.04243803024291992, + "y": 0.16787755489349365, + "z": 0.042428016662597656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.515762448310852, + 0.2339225858449936, + 2.7631423473358154 + ], + [ + -1.5580779314041138, + 0.23377712070941925, + 2.7628791332244873 + ], + [ + -1.5578149557113647, + 0.23384664952754974, + 2.7205634117126465 + ], + [ + -1.5154993534088135, + 0.23399212956428528, + 2.7208266258239746 + ], + [ + -1.516340970993042, + 0.401713490486145, + 2.7634143829345703 + ], + [ + -1.5586564540863037, + 0.4015679955482483, + 2.763151168823242 + ], + [ + -1.5583934783935547, + 0.40163755416870117, + 2.7208356857299805 + ], + [ + -1.5160778760910034, + 0.4017830193042755, + 2.7210988998413086 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "object_info": { + "name": "GarbageCan_cf69fd43", + "position": { + "x": 0.29969024658203125, + "y": 7.18235969543457e-06, + "z": 1.2532256841659546 + }, + "rotation": { + "x": 0.0006593925645574927, + "y": 2.2150020599365234, + "z": -0.002282413886860013 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7383514642715454, + "objectType": "GarbageCan", + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4879261255264282, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.0650081634521484 + ] + ], + "center": { + "x": 0.2996993362903595, + "y": 0.32798317074775696, + "z": 1.2532281875610352 + }, + "size": { + "x": 0.37645357847213745, + "y": 0.6559673547744751, + "z": 0.37644004821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.49219784140586853, + -3.6668598113465123e-07, + 1.4313961267471313 + ], + [ + 0.12151965498924255, + 9.915489499690011e-06, + 1.4457334280014038 + ], + [ + 0.10718235373497009, + 1.3122078598826192e-05, + 1.0750552415847778 + ], + [ + 0.47786054015159607, + 2.839903572748881e-06, + 1.0607179403305054 + ], + [ + 0.49221622943878174, + 0.6559540033340454, + 1.431401014328003 + ], + [ + 0.12153804302215576, + 0.6559642553329468, + 1.4457383155822754 + ], + [ + 0.1072007417678833, + 0.6559674739837646, + 1.0750601291656494 + ], + [ + 0.4778789281845093, + 0.6559572219848633, + 1.060722827911377 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "object_info": { + "name": "DiningTable_42373f1f", + "position": { + "x": -1.8579727411270142, + "y": 0.2316993921995163, + "z": 2.7878525257110596 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75" + ], + "distance": 3.172408103942871, + "objectType": "DiningTable", + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.353766918182373, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.6145288944244385 + ] + ], + "center": { + "x": -1.8579730987548828, + "y": 0.27928826212882996, + "z": 2.787849187850952 + }, + "size": { + "x": 1.0084123611450195, + "y": 0.09547990560531616, + "z": 0.34664058685302734 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "object_info": { + "name": "RemoteControl_09703e97", + "position": { + "x": -2.2912778854370117, + "y": 0.7151373624801636, + "z": 2.7494349479675293 + }, + "rotation": { + "x": 359.9211120605469, + "y": 0.35118886828422546, + "z": 359.98101806640625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.2867329120635986, + "objectType": "RemoteControl", + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "assetId": "Remote_3", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.256807565689087, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.6374101638793945 + ] + ], + "center": { + "x": -2.290771484375, + "y": 0.7245430946350098, + "z": 2.7473092079162598 + }, + "size": { + "x": 0.06792783737182617, + "y": 0.02184438705444336, + "z": 0.21979808807373047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.256814479827881, + 0.7139212489128113, + 2.8567938804626465 + ], + [ + -2.3244235515594482, + 0.713943600654602, + 2.857208251953125 + ], + [ + -2.325768232345581, + 0.7136415839195251, + 2.6378211975097656 + ], + [ + -2.2581591606140137, + 0.7136191725730896, + 2.637406826019287 + ], + [ + -2.256807565689087, + 0.7354427576065063, + 2.856764078140259 + ], + [ + -2.3244166374206543, + 0.7354651689529419, + 2.8571784496307373 + ], + [ + -2.325761318206787, + 0.735163152217865, + 2.637791633605957 + ], + [ + -2.2581522464752197, + 0.7351407408714294, + 2.6373772621154785 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "object_info": { + "name": "LightSwitch_477ce142", + "position": { + "x": -3.9000000953674316, + "y": 1.284000039100647, + "z": 1.684000015258789 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.813469171524048, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.8669681549072266, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.64006507396698 + ] + ], + "center": { + "x": -3.883484125137329, + "y": 1.2851357460021973, + "z": 1.684000015258789 + }, + "size": { + "x": 0.03303194046020508, + "y": 0.1647193431854248, + "z": 0.08786988258361816 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Statue|-03.59|+00.60|+01.43", + "object_info": { + "name": "Statue_b51b8ac3", + "position": { + "x": -3.591968536376953, + "y": 0.6028220653533936, + "z": 1.4310815334320068 + }, + "rotation": { + "x": 0.07878818362951279, + "y": 90.00411224365234, + "z": 359.8116455078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.4201130867004395, + "objectType": "Statue", + "objectId": "Statue|-03.59|+00.60|+01.43", + "assetId": "Towel_Statue_1", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|+01.44" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.5098624229431152, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.3489149808883667 + ] + ], + "center": { + "x": -3.5919289588928223, + "y": 0.8084835410118103, + "z": 1.4310238361358643 + }, + "size": { + "x": 0.16413307189941406, + "y": 0.4112800359725952, + "z": 0.16421771049499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.5099401473999023, + 0.6027724146842957, + 1.3490607738494873 + ], + [ + -3.5099236965179443, + 0.603306770324707, + 1.5131219625473022 + ], + [ + -3.673985004425049, + 0.6035440564155579, + 1.513137698173523 + ], + [ + -3.674001455307007, + 0.6030097007751465, + 1.349076509475708 + ], + [ + -3.509345769882202, + 1.0137324333190918, + 1.3477221727371216 + ], + [ + -3.509329319000244, + 1.014266848564148, + 1.5117833614349365 + ], + [ + -3.6733906269073486, + 1.0145041942596436, + 1.5117990970611572 + ], + [ + -3.6734070777893066, + 1.0139697790145874, + 1.3477379083633423 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "object_info": { + "name": "ArmChair_4b8c6e75", + "position": { + "x": -0.43700525164604187, + "y": 0.005729973316192627, + "z": 1.9230469465255737 + }, + "rotation": { + "x": 4.141504905419424e-05, + "y": 270.00018310546875, + "z": -0.0001669862394919619 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1221652030944824, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04723113775253296, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.04723113775253296, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 1.5481648445129395 + ] + ], + "center": { + "x": -0.43125927448272705, + "y": 0.3626064956188202, + "z": 1.9265482425689697 + }, + "size": { + "x": 0.7680562734603882, + "y": 0.7252018451690674, + "z": 0.7567667961120605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8153156042098999, + 1.087365671992302e-05, + 2.3049323558807373 + ], + [ + -0.8153178691864014, + 1.3908371329307556e-05, + 1.5481648445129395 + ], + [ + -0.04725685715675354, + 1.4075078070163727e-05, + 1.548162579536438 + ], + [ + -0.04725465178489685, + 1.104036346077919e-05, + 2.3049302101135254 + ], + [ + -0.8153157830238342, + 0.7252148985862732, + 2.3049352169036865 + ], + [ + -0.8153179883956909, + 0.7252179384231567, + 1.5481677055358887 + ], + [ + -0.04725700616836548, + 0.7252180576324463, + 1.5481654405593872 + ], + [ + -0.04725480079650879, + 0.7252150177955627, + 2.3049330711364746 + ] + ] + } + } + }, + { + "objectId": "TVStand|-01.86|+00.00|+02.79", + "object_info": { + "name": "TVStand_3ce96f2f", + "position": { + "x": -1.8579983711242676, + "y": 0.00039079785346984863, + "z": 2.787977933883667 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Television|-01.86|+01.20|+02.70", + "RemoteControl|-02.29|+00.71|+02.75" + ], + "distance": 3.2292532920837402, + "objectType": "TVStand", + "objectId": "TVStand|-01.86|+00.00|+02.79", + "assetId": "TV_Stand_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3527679443359375, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -1.3527679443359375, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.6121463775634766 + ] + ], + "center": { + "x": -1.8609373569488525, + "y": 0.35679537057876587, + "z": 2.7879385948181152 + }, + "size": { + "x": 1.01633882522583, + "y": 0.7136019468307495, + "z": 0.35158443450927734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.3528119325637817, + 2.9323389753699303e-05, + 2.963749408721924 + ], + [ + -2.3691158294677734, + 7.576588541269302e-05, + 2.9637136459350586 + ], + [ + -2.36910343170166, + 3.9373175241053104e-05, + 2.61221981048584 + ], + [ + -1.352799654006958, + -7.069320417940617e-06, + 2.612255334854126 + ], + [ + -1.3527793884277344, + 0.7135501503944397, + 2.9636754989624023 + ], + [ + -2.3690831661224365, + 0.7135965824127197, + 2.963639736175537 + ], + [ + -2.3690710067749023, + 0.7135602235794067, + 2.6121459007263184 + ], + [ + -1.352766990661621, + 0.7135137915611267, + 2.6121814250946045 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "Painting|-00.06|+01.60|+01.73", + "object_info": { + "name": "Painting_9a6f96ff", + "position": { + "x": -0.0560000017285347, + "y": 1.6019999980926514, + "z": 1.7330000400543213 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9214128255844116, + "objectType": "Painting", + "objectId": "Painting|-00.06|+01.60|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.02334464341402054, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 2.0239996910095215, + 1.168489694595337 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 1.168489694595337 + ] + ], + "center": { + "x": -0.02120792120695114, + "y": 1.598686695098877, + "z": 1.7579162120819092 + }, + "size": { + "x": 0.08910512924194336, + "y": 0.8506259918212891, + "z": 1.1788530349731445 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|-01.86|+01.20|+02.70", + "object_info": { + "name": "Television_430e1f04", + "position": { + "x": -1.8597434759140015, + "y": 1.200732946395874, + "z": 2.7014834880828857 + }, + "rotation": { + "x": 359.06036376953125, + "y": 179.99822998046875, + "z": -0.0007116764318197966 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.03920316696167, + "objectType": "Television", + "objectId": "Television|-01.86|+01.20|+02.70", + "assetId": "Television_23", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.359736442565918, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.594604730606079 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.594604730606079 + ] + ], + "center": { + "x": -1.8597421646118164, + "y": 1.1164844036102295, + "z": 2.7694149017333984 + }, + "size": { + "x": 1.0000114440917969, + "y": 0.8063507080078125, + "z": 0.34962034225463867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.359734058380127, + 0.7141113877296448, + 2.589648723602295 + ], + [ + -1.3597339391708374, + 0.7141237854957581, + 2.5896799564361572 + ], + [ + -1.359744906425476, + 0.7083142399787903, + 2.9438905715942383 + ], + [ + -2.3597450256347656, + 0.708301842212677, + 2.943859577178955 + ], + [ + -2.3597443103790283, + 1.5198802947998047, + 2.6028645038604736 + ], + [ + -1.3597443103790283, + 1.519892692565918, + 2.602895736694336 + ], + [ + -1.359755277633667, + 1.5140831470489502, + 2.957106351852417 + ], + [ + -2.359755277633667, + 1.514070749282837, + 2.9570751190185547 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -0.09999999403953552, + "y": 0.9009991884231567, + "z": -1.600000023841858 + }, + "agent_rotation": { + "x": -0.0, + "y": 336.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -0.09999999403953552, + "y": 1.5759992599487305, + "z": -1.600000023841858 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Sofa|-03.42|+00.01|-00.04", + "ArmChair|-02.01|+00.01|-01.58", + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "different_object": [ + "LightSwitch|-03.90|+01.28|+01.68", + "GarbageCan|+00.30|+00.00|+01.25", + "RemoteControl|-02.29|+00.71|+02.75", + "Painting|-00.06|+01.60|+01.73", + "ArmChair|-00.44|+00.01|+01.92", + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75", + "Laptop|-02.02|+00.45|-00.12", + "Television|-01.86|+01.20|+02.70", + "DiningTable|-01.86|+00.23|+02.79", + "TVStand|-01.86|+00.00|+02.79", + "FloorLamp|-00.33|+00.00|+02.73", + "Statue|-03.59|+00.60|+01.43", + "ArmChair|-00.43|+00.01|+01.06" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/42/0_depth_npy.npy b/train/FloorPlan223_physics/42/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..eba2434452549106ac297afde9de7d64b9bf63f6 --- /dev/null +++ b/train/FloorPlan223_physics/42/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1f794b0d23f1cc8c91d3c95ef8d86f219e129f399935cc735afc083e42e0aec +size 3145856 diff --git a/train/FloorPlan223_physics/42/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/42/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b7c27dd567d722d4759ad62bb826fd9241ffeea1 --- /dev/null +++ b/train/FloorPlan223_physics/42/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acc4225475ab4bc51983790522de1c157e804e8c34a14eed8e5fdf6530089d84 +size 2359424 diff --git a/train/FloorPlan223_physics/42/1.json b/train/FloorPlan223_physics/42/1.json new file mode 100644 index 0000000000000000000000000000000000000000..e1f93ddeffbada43297cac1b3057241b3a6c537e --- /dev/null +++ b/train/FloorPlan223_physics/42/1.json @@ -0,0 +1,1244 @@ +{ + "object": [ + { + "objectId": "WateringCan|-03.25|00.00|-01.86", + "object_info": { + "name": "WateringCan_31a595df", + "position": { + "x": -3.2522449493408203, + "y": -0.0008590668439865112, + "z": -1.8618444204330444 + }, + "rotation": { + "x": -0.0003620765928644687, + "y": -0.000614947231952101, + "z": 0.0007242992869578302 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.4430603981018066, + "objectType": "WateringCan", + "objectId": "WateringCan|-03.25|00.00|-01.86", + "assetId": "Watering_Can_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.176553726196289, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.9819858074188232 + ] + ], + "center": { + "x": -3.2522456645965576, + "y": 0.09692596644163132, + "z": -1.8485687971115112 + }, + "size": { + "x": 0.1513838768005371, + "y": 0.19385077059268951, + "z": 0.266834020614624 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1765549182891846, + 5.470355972647667e-07, + -1.715149998664856 + ], + [ + -3.3279380798339844, + -6.129266694188118e-07, + -1.7151516675949097 + ], + [ + -3.327935218811035, + -1.2035015970468521e-06, + -1.9819879531860352 + ], + [ + -3.1765518188476562, + -4.353933036327362e-08, + -1.9819862842559814 + ], + [ + -3.176556348800659, + 0.19385217130184174, + -1.7151503562927246 + ], + [ + -3.327939510345459, + 0.19385100901126862, + -1.7151521444320679 + ], + [ + -3.3279366493225098, + 0.19385041296482086, + -1.9819884300231934 + ], + [ + -3.17655348777771, + 0.19385157525539398, + -1.9819867610931396 + ] + ] + } + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|-01.61", + "object_info": { + "name": "SideTable_32f926b8", + "position": { + "x": -3.597963809967041, + "y": 0.004360944032669067, + "z": -1.6070078611373901 + }, + "rotation": { + "x": 0.003428330644965172, + "y": 0.002825607778504491, + "z": 359.70733642578125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|-03.58|+00.60|-01.62" + ], + "distance": 3.6033060550689697, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|-01.61", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.425083637237549, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.425083637237549, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.7844332456588745 + ] + ], + "center": { + "x": -3.5953938961029053, + "y": 0.3019649386405945, + "z": -1.6094589233398438 + }, + "size": { + "x": 0.3406205177307129, + "y": 0.6039294004440308, + "z": 0.3499486446380615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425757646560669, + -0.0015295855700969696, + -1.434476375579834 + ], + [ + -3.7657032012939453, + 0.0001298254355788231, + -1.4344571828842163 + ], + [ + -3.76572322845459, + 6.832834333181381e-05, + -1.7844345569610596 + ], + [ + -3.4257779121398926, + -0.0015910826623439789, + -1.7844538688659668 + ], + [ + -3.4228098392486572, + 0.6023802757263184, + -1.4345827102661133 + ], + [ + -3.7627553939819336, + 0.6040396690368652, + -1.4345635175704956 + ], + [ + -3.762775421142578, + 0.603978157043457, + -1.7845408916473389 + ], + [ + -3.4228298664093018, + 0.6023187637329102, + -1.7845600843429565 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -0.5, + "y": 0.9009991884231567, + "z": -0.6000000238418579 + }, + "agent_rotation": { + "x": -0.0, + "y": 225.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -0.5, + "y": 1.5759992599487305, + "z": -0.6000000238418579 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Sofa|-03.42|+00.01|-00.04", + "ArmChair|-02.01|+00.01|-01.58", + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "different_object": [ + "WateringCan|-03.25|00.00|-01.86", + "Pillow|-01.93|+00.37|-01.49", + "SideTable|-03.60|+00.00|-01.61", + "HousePlant|-03.58|+00.60|-01.62", + "Window|-02.00|+01.51|-01.93" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/42/1_depth_npy.npy b/train/FloorPlan223_physics/42/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..0d10f4733e02bf8267d7210f5cc3b93170b03d85 --- /dev/null +++ b/train/FloorPlan223_physics/42/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d97a310971935751def02eb4032f46a715f6e44f1771226a05afb1928ff1331 +size 3145856 diff --git a/train/FloorPlan223_physics/42/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/42/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..77eb0450a16014c285b5507b4e670de8deee2b5e --- /dev/null +++ b/train/FloorPlan223_physics/42/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37db5d921f5de14c49873615aced5a39e51d34a974eff9b484a1be1560ff9801 +size 2359424 diff --git a/train/FloorPlan223_physics/42/depth_0.png b/train/FloorPlan223_physics/42/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b7880c7859c8c124c886c0a3c31ed59b79fdea6e Binary files /dev/null and b/train/FloorPlan223_physics/42/depth_0.png differ diff --git a/train/FloorPlan223_physics/42/depth_1.png b/train/FloorPlan223_physics/42/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..569627dd28e9daabc485c2147dc47158a6c77e66 Binary files /dev/null and b/train/FloorPlan223_physics/42/depth_1.png differ diff --git a/train/FloorPlan223_physics/42/mask_questions.jsonl b/train/FloorPlan223_physics/42/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/FloorPlan223_physics/42/questions_distance.jsonl b/train/FloorPlan223_physics/42/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f898c0df3cecef6c620d184c3a627b3f2782a937 --- /dev/null +++ b/train/FloorPlan223_physics/42/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 6015, "folder_dir": "FloorPlan223_physics/42", "query": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Laptop\nB. HousePlant\nC. CoffeeTable\nD. Other\n", "answer": "A", "src_object": "Sofa", "target_object": "Laptop", "question": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Laptop", "semantic_id": "Laptop|-02.02|+00.45|-00.12", "distance": 1.4091148683934644, "com": {"x": -2.011923313140869, "y": 0.6075440645217896, "z": -0.1197483092546463}}, {"text": "HousePlant", "semantic_id": "HousePlant|-03.58|+00.60|-01.62", "distance": 1.5846055507581764, "com": {"x": -3.6157047748565674, "y": 0.9319713711738586, "z": -1.5891475677490234}}, {"text": "CoffeeTable", "semantic_id": "CoffeeTable|-02.02|+00.01|+00.02", "distance": 1.4598880785936588, "com": {"x": -2.0229990482330322, "y": 0.2217133343219757, "z": 0.017372846603393555}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/42/rgb_0.png", "image_2": "FloorPlan223_physics/42/rgb_1.png"} diff --git a/train/FloorPlan223_physics/42/rgb_0.png b/train/FloorPlan223_physics/42/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..643d1936e7d30aad10c7656e09571848eecb2c78 --- /dev/null +++ b/train/FloorPlan223_physics/42/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76994f4c9953f1e2e9ed69e241fd1f1571178eadeddd5ef7ce3cd0d886725fa8 +size 927339 diff --git a/train/FloorPlan223_physics/42/rgb_1.png b/train/FloorPlan223_physics/42/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..da9068df761658f0e619ef221f1af1bd3f40c418 --- /dev/null +++ b/train/FloorPlan223_physics/42/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9563d387c1a6f1ae3ccd29bf06ca8dbf4e492842601cf10f21b5219e408711ab +size 584151 diff --git a/train/FloorPlan223_physics/42/semantic_0.png b/train/FloorPlan223_physics/42/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..8d81196e829a785c41d9b67a66997bea611a38ec Binary files /dev/null and b/train/FloorPlan223_physics/42/semantic_0.png differ diff --git a/train/FloorPlan223_physics/42/semantic_1.png b/train/FloorPlan223_physics/42/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..318e07219ec52c5bab386d05695de0f11f13094a Binary files /dev/null and b/train/FloorPlan223_physics/42/semantic_1.png differ diff --git a/train/FloorPlan223_physics/44/0.json b/train/FloorPlan223_physics/44/0.json new file mode 100644 index 0000000000000000000000000000000000000000..ffe2abd344b4cfbab672b6cd2bbca7453b2a4b9c --- /dev/null +++ b/train/FloorPlan223_physics/44/0.json @@ -0,0 +1,2570 @@ +{ + "object": [ + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "Statue|-02.04|+00.24|+02.75", + "object_info": { + "name": "Statue_2147f514", + "position": { + "x": -2.0441362857818604, + "y": 0.2397981435060501, + "z": 2.7487399578094482 + }, + "rotation": { + "x": 0.5867406129837036, + "y": 359.98504638671875, + "z": 0.9680944681167603 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Stone" + ], + "receptacleObjectIds": null, + "distance": 3.221353054046631, + "objectType": "Statue", + "objectId": "Statue|-02.04|+00.24|+02.75", + "assetId": "Dog_Statue_4", + "parentReceptacles": [ + "DiningTable|-01.86|+00.23|+02.79", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.9340085983276367, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -1.9340085983276367, + 0.2338857650756836, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.44206762313842773, + 2.7116007804870605 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.8430066108703613 + ], + [ + -2.2018003463745117, + 0.2338857650756836, + 2.7116007804870605 + ] + ], + "center": { + "x": -2.067904472351074, + "y": 0.33797669410705566, + "z": 2.777303695678711 + }, + "size": { + "x": 0.267791748046875, + "y": 0.20818185806274414, + "z": 0.13140583038330078 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.932020902633667, + 0.23496071994304657, + 2.8412842750549316 + ], + [ + -2.2012362480163574, + 0.23041173815727234, + 2.841167449951172 + ], + [ + -2.201202392578125, + 0.2317402958869934, + 2.711437225341797 + ], + [ + -1.9319870471954346, + 0.23628926277160645, + 2.7115540504455566 + ], + [ + -1.9355692863464355, + 0.44490715861320496, + 2.843433380126953 + ], + [ + -2.204784631729126, + 0.44035816192626953, + 2.8433165550231934 + ], + [ + -2.2047507762908936, + 0.4416867196559906, + 2.7135863304138184 + ], + [ + -1.9355354309082031, + 0.446235716342926, + 2.713703155517578 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "object_info": { + "name": "FloorLamp_3964945b", + "position": { + "x": -0.33106115460395813, + "y": 0.0020943880081176758, + "z": 2.728121280670166 + }, + "rotation": { + "x": 0.028233468532562256, + "y": 359.9642333984375, + "z": 0.0124844741076231 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.8773627281188965, + "objectType": "FloorLamp", + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "assetId": "Floor_Lamp_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07376223802566528, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.470034599304199 + ] + ], + "center": { + "x": -0.33205798268318176, + "y": 0.9319358468055725, + "z": 2.7284581661224365 + }, + "size": { + "x": 0.516591489315033, + "y": 1.8638250827789307, + "z": 0.5168471336364746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.07385668158531189, + 4.743225872516632e-05, + 2.9870007038116455 + ], + [ + -0.5905872583389282, + -2.8995331376791e-05, + 2.986692190170288 + ], + [ + -0.5902788639068604, + 0.00010942760854959488, + 2.4699525833129883 + ], + [ + -0.0735483169555664, + 0.00018585508223623037, + 2.4702610969543457 + ], + [ + -0.07413265109062195, + 1.8638358116149902, + 2.987499713897705 + ], + [ + -0.5908632278442383, + 1.8637592792510986, + 2.9871912002563477 + ], + [ + -0.5905548334121704, + 1.8638978004455566, + 2.470451593399048 + ], + [ + -0.07382425665855408, + 1.8639740943908691, + 2.4707601070404053 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "Candle|-01.54|+00.23|+02.74", + "object_info": { + "name": "Candle_f40c2f5f", + "position": { + "x": -1.536789894104004, + "y": 0.2342444658279419, + "z": 2.7418534755706787 + }, + "rotation": { + "x": 0.09415348619222641, + "y": 359.6438903808594, + "z": 0.19696395099163055 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Wax" + ], + "receptacleObjectIds": null, + "distance": 3.0062029361724854, + "objectType": "Candle", + "objectId": "Candle|-01.54|+00.23|+02.74", + "assetId": "Candle_6", + "parentReceptacles": [ + "DiningTable|-01.86|+00.23|+02.79", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5155794620513916, + 0.40167558193206787, + 2.7630717754364014 + ], + [ + -1.5155794620513916, + 0.40167558193206787, + 2.7206437587738037 + ], + [ + -1.5155794620513916, + 0.23379802703857422, + 2.7630717754364014 + ], + [ + -1.5155794620513916, + 0.23379802703857422, + 2.7206437587738037 + ], + [ + -1.5580174922943115, + 0.40167558193206787, + 2.7630717754364014 + ], + [ + -1.5580174922943115, + 0.40167558193206787, + 2.7206437587738037 + ], + [ + -1.5580174922943115, + 0.23379802703857422, + 2.7630717754364014 + ], + [ + -1.5580174922943115, + 0.23379802703857422, + 2.7206437587738037 + ] + ], + "center": { + "x": -1.5367984771728516, + "y": 0.31773680448532104, + "z": 2.7418577671051025 + }, + "size": { + "x": 0.04243803024291992, + "y": 0.16787755489349365, + "z": 0.042428016662597656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.515762448310852, + 0.2339225858449936, + 2.7631423473358154 + ], + [ + -1.5580779314041138, + 0.23377712070941925, + 2.7628791332244873 + ], + [ + -1.5578149557113647, + 0.23384664952754974, + 2.7205634117126465 + ], + [ + -1.5154993534088135, + 0.23399212956428528, + 2.7208266258239746 + ], + [ + -1.516340970993042, + 0.401713490486145, + 2.7634143829345703 + ], + [ + -1.5586564540863037, + 0.4015679955482483, + 2.763151168823242 + ], + [ + -1.5583934783935547, + 0.40163755416870117, + 2.7208356857299805 + ], + [ + -1.5160778760910034, + 0.4017830193042755, + 2.7210988998413086 + ] + ] + } + } + }, + { + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "object_info": { + "name": "DiningTable_42373f1f", + "position": { + "x": -1.8579727411270142, + "y": 0.2316993921995163, + "z": 2.7878525257110596 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75" + ], + "distance": 3.172408103942871, + "objectType": "DiningTable", + "objectId": "DiningTable|-01.86|+00.23|+02.79", + "assetId": "", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.353766918182373, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -1.353766918182373, + 0.23154830932617188, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.32702821493148804, + 2.6145288944244385 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.961169481277466 + ], + [ + -2.3621792793273926, + 0.23154830932617188, + 2.6145288944244385 + ] + ], + "center": { + "x": -1.8579730987548828, + "y": 0.27928826212882996, + "z": 2.787849187850952 + }, + "size": { + "x": 1.0084123611450195, + "y": 0.09547990560531616, + "z": 0.34664058685302734 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "object_info": { + "name": "RemoteControl_09703e97", + "position": { + "x": -2.2912778854370117, + "y": 0.7151373624801636, + "z": 2.7494349479675293 + }, + "rotation": { + "x": 359.9211120605469, + "y": 0.35118886828422546, + "z": 359.98101806640625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.2867329120635986, + "objectType": "RemoteControl", + "objectId": "RemoteControl|-02.29|+00.71|+02.75", + "assetId": "Remote_3", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.256807565689087, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.256807565689087, + 0.7136209011077881, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7354652881622314, + 2.6374101638793945 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.857208251953125 + ], + [ + -2.324735403060913, + 0.7136209011077881, + 2.6374101638793945 + ] + ], + "center": { + "x": -2.290771484375, + "y": 0.7245430946350098, + "z": 2.7473092079162598 + }, + "size": { + "x": 0.06792783737182617, + "y": 0.02184438705444336, + "z": 0.21979808807373047 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.256814479827881, + 0.7139212489128113, + 2.8567938804626465 + ], + [ + -2.3244235515594482, + 0.713943600654602, + 2.857208251953125 + ], + [ + -2.325768232345581, + 0.7136415839195251, + 2.6378211975097656 + ], + [ + -2.2581591606140137, + 0.7136191725730896, + 2.637406826019287 + ], + [ + -2.256807565689087, + 0.7354427576065063, + 2.856764078140259 + ], + [ + -2.3244166374206543, + 0.7354651689529419, + 2.8571784496307373 + ], + [ + -2.325761318206787, + 0.735163152217865, + 2.637791633605957 + ], + [ + -2.2581522464752197, + 0.7351407408714294, + 2.6373772621154785 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Window|+03.48|+01.51|-01.93", + "object_info": { + "name": "Window_dea94267", + "position": { + "x": 3.4800000190734863, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.463291168212891, + "objectType": "Window", + "objectId": "Window|+03.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.960000514984131, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.960000514984131, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -2.0399999618530273 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -2.0399999618530273 + ] + ], + "center": { + "x": 3.5, + "y": 1.0739160776138306, + "z": -1.9994010925292969 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.147834062576294, + "z": 0.08119773864746094 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "object_info": { + "name": "ArmChair_4b8c6e75", + "position": { + "x": -0.43700525164604187, + "y": 0.005729973316192627, + "z": 1.9230469465255737 + }, + "rotation": { + "x": 4.141504905419424e-05, + "y": 270.00018310546875, + "z": -0.0001669862394919619 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1221652030944824, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04723113775253296, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.04723113775253296, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 1.5481648445129395 + ] + ], + "center": { + "x": -0.43125927448272705, + "y": 0.3626064956188202, + "z": 1.9265482425689697 + }, + "size": { + "x": 0.7680562734603882, + "y": 0.7252018451690674, + "z": 0.7567667961120605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8153156042098999, + 1.087365671992302e-05, + 2.3049323558807373 + ], + [ + -0.8153178691864014, + 1.3908371329307556e-05, + 1.5481648445129395 + ], + [ + -0.04725685715675354, + 1.4075078070163727e-05, + 1.548162579536438 + ], + [ + -0.04725465178489685, + 1.104036346077919e-05, + 2.3049302101135254 + ], + [ + -0.8153157830238342, + 0.7252148985862732, + 2.3049352169036865 + ], + [ + -0.8153179883956909, + 0.7252179384231567, + 1.5481677055358887 + ], + [ + -0.04725700616836548, + 0.7252180576324463, + 1.5481654405593872 + ], + [ + -0.04725480079650879, + 0.7252150177955627, + 2.3049330711364746 + ] + ] + } + } + }, + { + "objectId": "TVStand|-01.86|+00.00|+02.79", + "object_info": { + "name": "TVStand_3ce96f2f", + "position": { + "x": -1.8579983711242676, + "y": 0.00039079785346984863, + "z": 2.787977933883667 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Television|-01.86|+01.20|+02.70", + "RemoteControl|-02.29|+00.71|+02.75" + ], + "distance": 3.2292532920837402, + "objectType": "TVStand", + "objectId": "TVStand|-01.86|+00.00|+02.79", + "assetId": "TV_Stand_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3527679443359375, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -1.3527679443359375, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.6121463775634766 + ] + ], + "center": { + "x": -1.8609373569488525, + "y": 0.35679537057876587, + "z": 2.7879385948181152 + }, + "size": { + "x": 1.01633882522583, + "y": 0.7136019468307495, + "z": 0.35158443450927734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.3528119325637817, + 2.9323389753699303e-05, + 2.963749408721924 + ], + [ + -2.3691158294677734, + 7.576588541269302e-05, + 2.9637136459350586 + ], + [ + -2.36910343170166, + 3.9373175241053104e-05, + 2.61221981048584 + ], + [ + -1.352799654006958, + -7.069320417940617e-06, + 2.612255334854126 + ], + [ + -1.3527793884277344, + 0.7135501503944397, + 2.9636754989624023 + ], + [ + -2.3690831661224365, + 0.7135965824127197, + 2.963639736175537 + ], + [ + -2.3690710067749023, + 0.7135602235794067, + 2.6121459007263184 + ], + [ + -1.352766990661621, + 0.7135137915611267, + 2.6121814250946045 + ] + ] + } + } + }, + { + "objectId": "Painting|-00.06|+01.60|+01.73", + "object_info": { + "name": "Painting_9a6f96ff", + "position": { + "x": -0.0560000017285347, + "y": 1.6019999980926514, + "z": 1.7330000400543213 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9214128255844116, + "objectType": "Painting", + "objectId": "Painting|-00.06|+01.60|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.02334464341402054, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 2.0239996910095215, + 1.168489694595337 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 1.168489694595337 + ] + ], + "center": { + "x": -0.02120792120695114, + "y": 1.598686695098877, + "z": 1.7579162120819092 + }, + "size": { + "x": 0.08910512924194336, + "y": 0.8506259918212891, + "z": 1.1788530349731445 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|-01.86|+01.20|+02.70", + "object_info": { + "name": "Television_430e1f04", + "position": { + "x": -1.8597434759140015, + "y": 1.200732946395874, + "z": 2.7014834880828857 + }, + "rotation": { + "x": 359.06036376953125, + "y": 179.99822998046875, + "z": -0.0007116764318197966 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.03920316696167, + "objectType": "Television", + "objectId": "Television|-01.86|+01.20|+02.70", + "assetId": "Television_23", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.359736442565918, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.594604730606079 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.594604730606079 + ] + ], + "center": { + "x": -1.8597421646118164, + "y": 1.1164844036102295, + "z": 2.7694149017333984 + }, + "size": { + "x": 1.0000114440917969, + "y": 0.8063507080078125, + "z": 0.34962034225463867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.359734058380127, + 0.7141113877296448, + 2.589648723602295 + ], + [ + -1.3597339391708374, + 0.7141237854957581, + 2.5896799564361572 + ], + [ + -1.359744906425476, + 0.7083142399787903, + 2.9438905715942383 + ], + [ + -2.3597450256347656, + 0.708301842212677, + 2.943859577178955 + ], + [ + -2.3597443103790283, + 1.5198802947998047, + 2.6028645038604736 + ], + [ + -1.3597443103790283, + 1.519892692565918, + 2.602895736694336 + ], + [ + -1.359755277633667, + 1.5140831470489502, + 2.957106351852417 + ], + [ + -2.359755277633667, + 1.514070749282837, + 2.9570751190185547 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -3.299999952316284, + "y": 0.9009991884231567, + "z": 2.200000047683716 + }, + "agent_rotation": { + "x": -0.0, + "y": 67.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -3.299999952316284, + "y": 1.5759992599487305, + "z": 2.200000047683716 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Vase|+01.57|+00.78|-00.31", + "Chair|+02.29|00.00|-00.78", + "Painting|-00.06|+01.60|+01.73", + "Chair|+01.64|00.00|-00.85", + "Plate|+01.36|+00.78|-00.62", + "ArmChair|-00.44|+00.01|+01.92", + "Window|+03.48|+01.51|-01.93", + "Box|+01.27|+00.15|-00.29", + "DiningTable|+01.88|+00.00|-00.29", + "ArmChair|-00.43|+00.01|+01.06" + ], + "different_object": [ + "RemoteControl|-02.29|+00.71|+02.75", + "Candle|-01.54|+00.23|+02.74", + "Statue|-02.04|+00.24|+02.75", + "Television|-01.86|+01.20|+02.70", + "DiningTable|-01.86|+00.23|+02.79", + "TVStand|-01.86|+00.00|+02.79", + "FloorLamp|-00.33|+00.00|+02.73" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/44/0_depth_npy.npy b/train/FloorPlan223_physics/44/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..cc50f51ba29f7774d7c70a0fb6d3d29ea854b108 --- /dev/null +++ b/train/FloorPlan223_physics/44/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bcd040ee62d94608c68f549229373aa70700b361cf419184aecd6a32c87ddf4 +size 3145856 diff --git a/train/FloorPlan223_physics/44/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/44/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..18d8509cb4acb961d1b84448eceaf91eeee3c9d4 --- /dev/null +++ b/train/FloorPlan223_physics/44/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16852fd0ca35ba14c0e2ed4faf1d923befae8013e618528f9f6dd563d6ed3d22 +size 2359424 diff --git a/train/FloorPlan223_physics/44/1.json b/train/FloorPlan223_physics/44/1.json new file mode 100644 index 0000000000000000000000000000000000000000..83891f8e58d87f77f7eb5509fabd201f961a4ea8 --- /dev/null +++ b/train/FloorPlan223_physics/44/1.json @@ -0,0 +1,2522 @@ +{ + "object": [ + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Window|+03.48|+01.51|-01.93", + "object_info": { + "name": "Window_dea94267", + "position": { + "x": 3.4800000190734863, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.463291168212891, + "objectType": "Window", + "objectId": "Window|+03.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.960000514984131, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.960000514984131, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -2.0399999618530273 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -2.0399999618530273 + ] + ], + "center": { + "x": 3.5, + "y": 1.0739160776138306, + "z": -1.9994010925292969 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.147834062576294, + "z": 0.08119773864746094 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "object_info": { + "name": "ArmChair_4b8c6e75", + "position": { + "x": -0.43700525164604187, + "y": 0.005729973316192627, + "z": 1.9230469465255737 + }, + "rotation": { + "x": 4.141504905419424e-05, + "y": 270.00018310546875, + "z": -0.0001669862394919619 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1221652030944824, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04723113775253296, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.04723113775253296, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 1.5481648445129395 + ] + ], + "center": { + "x": -0.43125927448272705, + "y": 0.3626064956188202, + "z": 1.9265482425689697 + }, + "size": { + "x": 0.7680562734603882, + "y": 0.7252018451690674, + "z": 0.7567667961120605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8153156042098999, + 1.087365671992302e-05, + 2.3049323558807373 + ], + [ + -0.8153178691864014, + 1.3908371329307556e-05, + 1.5481648445129395 + ], + [ + -0.04725685715675354, + 1.4075078070163727e-05, + 1.548162579536438 + ], + [ + -0.04725465178489685, + 1.104036346077919e-05, + 2.3049302101135254 + ], + [ + -0.8153157830238342, + 0.7252148985862732, + 2.3049352169036865 + ], + [ + -0.8153179883956909, + 0.7252179384231567, + 1.5481677055358887 + ], + [ + -0.04725700616836548, + 0.7252180576324463, + 1.5481654405593872 + ], + [ + -0.04725480079650879, + 0.7252150177955627, + 2.3049330711364746 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "Painting|-00.06|+01.60|+01.73", + "object_info": { + "name": "Painting_9a6f96ff", + "position": { + "x": -0.0560000017285347, + "y": 1.6019999980926514, + "z": 1.7330000400543213 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9214128255844116, + "objectType": "Painting", + "objectId": "Painting|-00.06|+01.60|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.02334464341402054, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 2.0239996910095215, + 1.168489694595337 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 1.168489694595337 + ] + ], + "center": { + "x": -0.02120792120695114, + "y": 1.598686695098877, + "z": 1.7579162120819092 + }, + "size": { + "x": 0.08910512924194336, + "y": 0.8506259918212891, + "z": 1.1788530349731445 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.6000001430511475, + "y": 0.9009991884231567, + "z": 1.899999976158142 + }, + "agent_rotation": { + "x": -0.0, + "y": 138.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.6000001430511475, + "y": 1.5759992599487305, + "z": 1.899999976158142 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Vase|+01.57|+00.78|-00.31", + "Chair|+02.29|00.00|-00.78", + "Painting|-00.06|+01.60|+01.73", + "Chair|+01.64|00.00|-00.85", + "Plate|+01.36|+00.78|-00.62", + "ArmChair|-00.44|+00.01|+01.92", + "Window|+03.48|+01.51|-01.93", + "Box|+01.27|+00.15|-00.29", + "DiningTable|+01.88|+00.00|-00.29", + "ArmChair|-00.43|+00.01|+01.06" + ], + "different_object": [ + "Sofa|-03.42|+00.01|-00.04", + "ArmChair|-02.01|+00.01|-01.58", + "Pillow|-01.93|+00.37|-01.49", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "Window|-02.00|+01.51|-01.93", + "Window|+01.48|+01.51|-01.93" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/44/1_depth_npy.npy b/train/FloorPlan223_physics/44/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..bdf83723f61738d13c73a7e2f8df21cd601b965b --- /dev/null +++ b/train/FloorPlan223_physics/44/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09f57ea2439902fa3ffba2379103fea3c8ff46da7432383a6c22c85caa71bf80 +size 3145856 diff --git a/train/FloorPlan223_physics/44/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/44/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..bdda8a0acafdb1b545bbcd0daa276394487e4378 --- /dev/null +++ b/train/FloorPlan223_physics/44/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4390f7aa31e8f9df2522db62f2c52c9f4fd1f2d299dd080452494fcadbab93b7 +size 2359424 diff --git a/train/FloorPlan223_physics/44/depth_0.png b/train/FloorPlan223_physics/44/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6e3e84842f0596c84ad7deca1e449bd4f8fd6245 Binary files /dev/null and b/train/FloorPlan223_physics/44/depth_0.png differ diff --git a/train/FloorPlan223_physics/44/depth_1.png b/train/FloorPlan223_physics/44/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..1e8f059c4f764606988b4dc0107d036341d4317c Binary files /dev/null and b/train/FloorPlan223_physics/44/depth_1.png differ diff --git a/train/FloorPlan223_physics/44/mask_questions.jsonl b/train/FloorPlan223_physics/44/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c356b0108c2c1fe1f8440a2c5dfb9717bf0f8fcb --- /dev/null +++ b/train/FloorPlan223_physics/44/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 20362, "folder_dir": "FloorPlan223_physics/44", "pair_name": "0-1:Painting|-00.06|+01.60|+01.73", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. Candle\nC. Vase\nD. TVStand", "answer": "A", "object_name": "Painting", "image_1": "FloorPlan223_physics/44/rgb_0.png", "image_2": "FloorPlan223_physics/44/rgb_1.png", "mask_image": "FloorPlan223_physics/44/rgb_1_mask_Painting|-00.06|+01.60|+01.73.png", "options": ["Painting", "Candle", "Vase", "TVStand"]} +{"id": 20363, "folder_dir": "FloorPlan223_physics/44", "pair_name": "0-1:ArmChair|-00.44|+00.01|+01.92", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. FloorLamp\nB. ArmChair\nC. Television\nD. Vase", "answer": "B", "object_name": "ArmChair", "image_1": "FloorPlan223_physics/44/rgb_0.png", "image_2": "FloorPlan223_physics/44/rgb_1.png", "mask_image": "FloorPlan223_physics/44/rgb_1_mask_ArmChair|-00.44|+00.01|+01.92.png", "options": ["FloorLamp", "ArmChair", "Television", "Vase"]} +{"id": 20364, "folder_dir": "FloorPlan223_physics/44", "pair_name": "0-1:ArmChair|-00.43|+00.01|+01.06", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. TVStand\nB. Candle\nC. ArmChair\nD. Vase", "answer": "C", "object_name": "ArmChair", "image_1": "FloorPlan223_physics/44/rgb_0.png", "image_2": "FloorPlan223_physics/44/rgb_1.png", "mask_image": "FloorPlan223_physics/44/rgb_1_mask_ArmChair|-00.43|+00.01|+01.06.png", "options": ["TVStand", "Candle", "ArmChair", "Vase"]} +{"id": 20365, "folder_dir": "FloorPlan223_physics/44", "pair_name": "1-0:Painting|-00.06|+01.60|+01.73", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Vase\nB. Painting\nC. CoffeeTable\nD. Laptop", "answer": "B", "object_name": "Painting", "image_1": "FloorPlan223_physics/44/rgb_1.png", "image_2": "FloorPlan223_physics/44/rgb_0.png", "mask_image": "FloorPlan223_physics/44/rgb_0_mask_Painting|-00.06|+01.60|+01.73.png", "options": ["Vase", "Painting", "CoffeeTable", "Laptop"]} +{"id": 20366, "folder_dir": "FloorPlan223_physics/44", "pair_name": "1-0:ArmChair|-00.44|+00.01|+01.92", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pillow\nB. Vase\nC. ArmChair\nD. CoffeeTable", "answer": "C", "object_name": "ArmChair", "image_1": "FloorPlan223_physics/44/rgb_1.png", "image_2": "FloorPlan223_physics/44/rgb_0.png", "mask_image": "FloorPlan223_physics/44/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png", "options": ["Pillow", "Vase", "ArmChair", "CoffeeTable"]} diff --git a/train/FloorPlan223_physics/44/questions_distance.jsonl b/train/FloorPlan223_physics/44/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cbbc4f24e49fba82860ee284f23942c0cdaf5403 --- /dev/null +++ b/train/FloorPlan223_physics/44/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 6017, "folder_dir": "FloorPlan223_physics/44", "query": "Which of the following objects is closest to Painting in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Television\nB. Candle\nC. FloorLamp\nD. Other\n", "answer": "C", "src_object": "Painting", "target_object": "FloorLamp", "question": "Which of the following objects is closest to Painting in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Television", "semantic_id": "Television|-01.86|+01.20|+02.70", "distance": 2.1531039949932476, "com": {"x": -1.8597421646118164, "y": 1.1164844036102295, "z": 2.7694149017333984}}, {"text": "Candle", "semantic_id": "Candle|-01.54|+00.23|+02.74", "distance": 2.21494657707525, "com": {"x": -1.5367984771728516, "y": 0.31773680448532104, "z": 2.7418577671051025}}, {"text": "FloorLamp", "semantic_id": "FloorLamp|-00.33|+00.00|+02.73", "distance": 1.2178407691370914, "com": {"x": -0.33205798268318176, "y": 0.9319358468055725, "z": 2.7284581661224365}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/44/rgb_0.png", "image_2": "FloorPlan223_physics/44/rgb_1.png"} diff --git a/train/FloorPlan223_physics/44/rgb_0.png b/train/FloorPlan223_physics/44/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c9cffbe1ecfefd03d51eb2a15eb2b279cc1b1304 --- /dev/null +++ b/train/FloorPlan223_physics/44/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ce1be843f656e7659af20835dd628e64f6fe18b8a457d04a4c30b790ee62855 +size 559598 diff --git a/train/FloorPlan223_physics/44/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png b/train/FloorPlan223_physics/44/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png new file mode 100644 index 0000000000000000000000000000000000000000..1e68549e16ece42b4abf9bba7058fe96a2f50fcd --- /dev/null +++ b/train/FloorPlan223_physics/44/rgb_0_mask_ArmChair|-00.44|+00.01|+01.92.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8538e01ea8940845d5f6846eaa855d0b6a15988475132f348a7adc79fadcadd +size 461422 diff --git a/train/FloorPlan223_physics/44/rgb_0_mask_Painting|-00.06|+01.60|+01.73.png b/train/FloorPlan223_physics/44/rgb_0_mask_Painting|-00.06|+01.60|+01.73.png new file mode 100644 index 0000000000000000000000000000000000000000..646bf1fceed11c6679926f88533f480161cf864c --- /dev/null +++ b/train/FloorPlan223_physics/44/rgb_0_mask_Painting|-00.06|+01.60|+01.73.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cce0ba2c0f846b67226c872feea5b432731e37cca50c82a8442423a425091713 +size 473306 diff --git a/train/FloorPlan223_physics/44/rgb_1.png b/train/FloorPlan223_physics/44/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..48cfe0310be5e9d0027d71f7ef07e3270cec74d6 --- /dev/null +++ b/train/FloorPlan223_physics/44/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4d1cd7be5b03e7eed493bea2fe11e124f2913c2328480be7ab1b6ae65c41ef9 +size 883417 diff --git a/train/FloorPlan223_physics/44/rgb_1_mask_ArmChair|-00.43|+00.01|+01.06.png b/train/FloorPlan223_physics/44/rgb_1_mask_ArmChair|-00.43|+00.01|+01.06.png new file mode 100644 index 0000000000000000000000000000000000000000..5f81c24b0e93b4789c5bd84ebca9059fdb2e9686 --- /dev/null +++ b/train/FloorPlan223_physics/44/rgb_1_mask_ArmChair|-00.43|+00.01|+01.06.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac7adca3c97279c94eb206e4b708a5690f2e139e23f34d0ea7137b510da18908 +size 721828 diff --git a/train/FloorPlan223_physics/44/rgb_1_mask_ArmChair|-00.44|+00.01|+01.92.png b/train/FloorPlan223_physics/44/rgb_1_mask_ArmChair|-00.44|+00.01|+01.92.png new file mode 100644 index 0000000000000000000000000000000000000000..804259cb00abcbb3b60b9706129c99fe5e030a3a --- /dev/null +++ b/train/FloorPlan223_physics/44/rgb_1_mask_ArmChair|-00.44|+00.01|+01.92.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9c5942917920637a61c0f9ae604432c7eb06c04209bd3d8a0b71f3466959310 +size 723860 diff --git a/train/FloorPlan223_physics/44/rgb_1_mask_Painting|-00.06|+01.60|+01.73.png b/train/FloorPlan223_physics/44/rgb_1_mask_Painting|-00.06|+01.60|+01.73.png new file mode 100644 index 0000000000000000000000000000000000000000..2b7684e52914b80688829b70a89d6db2f771624a --- /dev/null +++ b/train/FloorPlan223_physics/44/rgb_1_mask_Painting|-00.06|+01.60|+01.73.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b7522a715a916db5d6b5092ff19b8b81f5edeb4830a6d77362221620d9700a1 +size 729960 diff --git a/train/FloorPlan223_physics/44/semantic_0.png b/train/FloorPlan223_physics/44/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..06cd513bae298be5415c915a014136facdaa6e23 Binary files /dev/null and b/train/FloorPlan223_physics/44/semantic_0.png differ diff --git a/train/FloorPlan223_physics/44/semantic_1.png b/train/FloorPlan223_physics/44/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..ba5ea8e4b98ea136a7d8f0f63e12f3adbfafbebe Binary files /dev/null and b/train/FloorPlan223_physics/44/semantic_1.png differ diff --git a/train/FloorPlan223_physics/46/0.json b/train/FloorPlan223_physics/46/0.json new file mode 100644 index 0000000000000000000000000000000000000000..90773a530ad4501a2a513b8027290be68c6a0294 --- /dev/null +++ b/train/FloorPlan223_physics/46/0.json @@ -0,0 +1,1670 @@ +{ + "object": [ + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "object_info": { + "name": "FloorLamp_3964945b", + "position": { + "x": -0.33106115460395813, + "y": 0.0020943880081176758, + "z": 2.728121280670166 + }, + "rotation": { + "x": 0.028233468532562256, + "y": 359.9642333984375, + "z": 0.0124844741076231 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 2.8773627281188965, + "objectType": "FloorLamp", + "objectId": "FloorLamp|-00.33|+00.00|+02.73", + "assetId": "Floor_Lamp_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.07376223802566528, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.07376223802566528, + 2.3305416107177734e-05, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 1.8638484477996826, + 2.470034599304199 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.986881732940674 + ], + [ + -0.5903537273406982, + 2.3305416107177734e-05, + 2.470034599304199 + ] + ], + "center": { + "x": -0.33205798268318176, + "y": 0.9319358468055725, + "z": 2.7284581661224365 + }, + "size": { + "x": 0.516591489315033, + "y": 1.8638250827789307, + "z": 0.5168471336364746 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.07385668158531189, + 4.743225872516632e-05, + 2.9870007038116455 + ], + [ + -0.5905872583389282, + -2.8995331376791e-05, + 2.986692190170288 + ], + [ + -0.5902788639068604, + 0.00010942760854959488, + 2.4699525833129883 + ], + [ + -0.0735483169555664, + 0.00018585508223623037, + 2.4702610969543457 + ], + [ + -0.07413265109062195, + 1.8638358116149902, + 2.987499713897705 + ], + [ + -0.5908632278442383, + 1.8637592792510986, + 2.9871912002563477 + ], + [ + -0.5905548334121704, + 1.8638978004455566, + 2.470451593399048 + ], + [ + -0.07382425665855408, + 1.8639740943908691, + 2.4707601070404053 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "object_info": { + "name": "ArmChair_60bb8c35", + "position": { + "x": -0.42999982833862305, + "y": 0.0057298243045806885, + "z": 1.0620347261428833 + }, + "rotation": { + "x": -4.8239522584481165e-05, + "y": 270.000244140625, + "z": -1.2131465155107435e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.39080011844635, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.43|+00.01|+01.06", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04022574424743652, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.04022574424743652, + 3.9637088775634766e-06, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 0.7252041101455688, + 0.6871519088745117 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 1.4439167976379395 + ], + [ + -0.8082828521728516, + 3.9637088775634766e-06, + 0.6871519088745117 + ] + ], + "center": { + "x": -0.42425429821014404, + "y": 0.3626040518283844, + "z": 1.0655343532562256 + }, + "size": { + "x": 0.768057107925415, + "y": 0.7252001762390137, + "z": 0.7567648887634277 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8083095550537109, + 1.0094139724969864e-05, + 1.4439204931259155 + ], + [ + -0.808312714099884, + 9.696464985609055e-06, + 0.6871519088745117 + ], + [ + -0.04025048017501831, + 1.1332333087921143e-05, + 0.6871486902236938 + ], + [ + -0.04024729132652283, + 1.1730007827281952e-05, + 1.4439172744750977 + ], + [ + -0.8083110451698303, + 0.7252147197723389, + 1.4439201354980469 + ], + [ + -0.8083142042160034, + 0.7252143621444702, + 0.6871515512466431 + ], + [ + -0.04025200009346008, + 0.7252160310745239, + 0.6871483325958252 + ], + [ + -0.0402488112449646, + 0.7252163887023926, + 1.4439167976379395 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "object_info": { + "name": "ArmChair_4b8c6e75", + "position": { + "x": -0.43700525164604187, + "y": 0.005729973316192627, + "z": 1.9230469465255737 + }, + "rotation": { + "x": 4.141504905419424e-05, + "y": 270.00018310546875, + "z": -0.0001669862394919619 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [], + "distance": 2.1221652030944824, + "objectType": "ArmChair", + "objectId": "ArmChair|-00.44|+00.01|+01.92", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -0.04723113775253296, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.04723113775253296, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.04723113775253296, + 5.5730342864990234e-06, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 2.304931640625 + ], + [ + -0.8152874112129211, + 0.7252074480056763, + 1.5481648445129395 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 2.304931640625 + ], + [ + -0.8152874112129211, + 5.5730342864990234e-06, + 1.5481648445129395 + ] + ], + "center": { + "x": -0.43125927448272705, + "y": 0.3626064956188202, + "z": 1.9265482425689697 + }, + "size": { + "x": 0.7680562734603882, + "y": 0.7252018451690674, + "z": 0.7567667961120605 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -0.8153156042098999, + 1.087365671992302e-05, + 2.3049323558807373 + ], + [ + -0.8153178691864014, + 1.3908371329307556e-05, + 1.5481648445129395 + ], + [ + -0.04725685715675354, + 1.4075078070163727e-05, + 1.548162579536438 + ], + [ + -0.04725465178489685, + 1.104036346077919e-05, + 2.3049302101135254 + ], + [ + -0.8153157830238342, + 0.7252148985862732, + 2.3049352169036865 + ], + [ + -0.8153179883956909, + 0.7252179384231567, + 1.5481677055358887 + ], + [ + -0.04725700616836548, + 0.7252180576324463, + 1.5481654405593872 + ], + [ + -0.04725480079650879, + 0.7252150177955627, + 2.3049330711364746 + ] + ] + } + } + }, + { + "objectId": "TVStand|-01.86|+00.00|+02.79", + "object_info": { + "name": "TVStand_3ce96f2f", + "position": { + "x": -1.8579983711242676, + "y": 0.00039079785346984863, + "z": 2.787977933883667 + }, + "rotation": { + "x": 359.9682922363281, + "y": -0.0031192998867481947, + "z": 359.99371337890625 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Television|-01.86|+01.20|+02.70", + "RemoteControl|-02.29|+00.71|+02.75" + ], + "distance": 3.2292532920837402, + "objectType": "TVStand", + "objectId": "TVStand|-01.86|+00.00|+02.79", + "assetId": "TV_Stand_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.3527679443359375, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -1.3527679443359375, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -1.3527679443359375, + -5.602836608886719e-06, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.963730812072754 + ], + [ + -2.3691067695617676, + 0.7135963439941406, + 2.6121463775634766 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.963730812072754 + ], + [ + -2.3691067695617676, + -5.602836608886719e-06, + 2.6121463775634766 + ] + ], + "center": { + "x": -1.8609373569488525, + "y": 0.35679537057876587, + "z": 2.7879385948181152 + }, + "size": { + "x": 1.01633882522583, + "y": 0.7136019468307495, + "z": 0.35158443450927734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.3528119325637817, + 2.9323389753699303e-05, + 2.963749408721924 + ], + [ + -2.3691158294677734, + 7.576588541269302e-05, + 2.9637136459350586 + ], + [ + -2.36910343170166, + 3.9373175241053104e-05, + 2.61221981048584 + ], + [ + -1.352799654006958, + -7.069320417940617e-06, + 2.612255334854126 + ], + [ + -1.3527793884277344, + 0.7135501503944397, + 2.9636754989624023 + ], + [ + -2.3690831661224365, + 0.7135965824127197, + 2.963639736175537 + ], + [ + -2.3690710067749023, + 0.7135602235794067, + 2.6121459007263184 + ], + [ + -1.352766990661621, + 0.7135137915611267, + 2.6121814250946045 + ] + ] + } + } + }, + { + "objectId": "Painting|-00.06|+01.60|+01.73", + "object_info": { + "name": "Painting_9a6f96ff", + "position": { + "x": -0.0560000017285347, + "y": 1.6019999980926514, + "z": 1.7330000400543213 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.9214128255844116, + "objectType": "Painting", + "objectId": "Painting|-00.06|+01.60|+01.73", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.02334464341402054, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 2.0239996910095215, + 1.168489694595337 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + 0.02334464341402054, + 1.1733736991882324, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 2.0239996910095215, + 1.168489694595337 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 2.3473427295684814 + ], + [ + -0.06576048582792282, + 1.1733736991882324, + 1.168489694595337 + ] + ], + "center": { + "x": -0.02120792120695114, + "y": 1.598686695098877, + "z": 1.7579162120819092 + }, + "size": { + "x": 0.08910512924194336, + "y": 0.8506259918212891, + "z": 1.1788530349731445 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|-01.86|+01.20|+02.70", + "object_info": { + "name": "Television_430e1f04", + "position": { + "x": -1.8597434759140015, + "y": 1.200732946395874, + "z": 2.7014834880828857 + }, + "rotation": { + "x": 359.06036376953125, + "y": 179.99822998046875, + "z": -0.0007116764318197966 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.03920316696167, + "objectType": "Television", + "objectId": "Television|-01.86|+01.20|+02.70", + "assetId": "Television_23", + "parentReceptacles": [ + "TVStand|-01.86|+00.00|+02.79" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.359736442565918, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -1.359736442565918, + 0.7133090496063232, + 2.594604730606079 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 1.5196597576141357, + 2.594604730606079 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.9442250728607178 + ], + [ + -2.359747886657715, + 0.7133090496063232, + 2.594604730606079 + ] + ], + "center": { + "x": -1.8597421646118164, + "y": 1.1164844036102295, + "z": 2.7694149017333984 + }, + "size": { + "x": 1.0000114440917969, + "y": 0.8063507080078125, + "z": 0.34962034225463867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.359734058380127, + 0.7141113877296448, + 2.589648723602295 + ], + [ + -1.3597339391708374, + 0.7141237854957581, + 2.5896799564361572 + ], + [ + -1.359744906425476, + 0.7083142399787903, + 2.9438905715942383 + ], + [ + -2.3597450256347656, + 0.708301842212677, + 2.943859577178955 + ], + [ + -2.3597443103790283, + 1.5198802947998047, + 2.6028645038604736 + ], + [ + -1.3597443103790283, + 1.519892692565918, + 2.602895736694336 + ], + [ + -1.359755277633667, + 1.5140831470489502, + 2.957106351852417 + ], + [ + -2.359755277633667, + 1.514070749282837, + 2.9570751190185547 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": -2.799999952316284, + "y": 0.9009991884231567, + "z": 2.799999952316284 + }, + "agent_rotation": { + "x": -0.0, + "y": 86.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.799999952316284, + "y": 1.5759992599487305, + "z": 2.799999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|+01.64|00.00|-00.85", + "Plate|+01.36|+00.78|-00.62", + "Box|+01.27|+00.15|-00.29", + "DiningTable|+01.88|+00.00|-00.29", + "Window|+01.48|+01.51|-01.93" + ], + "different_object": [ + "Painting|-00.06|+01.60|+01.73", + "ArmChair|-00.44|+00.01|+01.92", + "Television|-01.86|+01.20|+02.70", + "TVStand|-01.86|+00.00|+02.79", + "FloorLamp|-00.33|+00.00|+02.73", + "ArmChair|-00.43|+00.01|+01.06" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/46/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/46/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..7e0770fb33f9edabf41e2596742602c94d3aa7d7 --- /dev/null +++ b/train/FloorPlan223_physics/46/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c93f60be0a46f40f4e5516e95429a1d71002f6c2e5bf57f28a999fd1ad9c4d88 +size 2359424 diff --git a/train/FloorPlan223_physics/46/depth_1.png b/train/FloorPlan223_physics/46/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..851721727c7d1d4efc3cc796efc81edfa01a8c12 Binary files /dev/null and b/train/FloorPlan223_physics/46/depth_1.png differ diff --git a/train/FloorPlan223_physics/46/rgb_1_mask_Window|+01.48|+01.51|-01.93.png b/train/FloorPlan223_physics/46/rgb_1_mask_Window|+01.48|+01.51|-01.93.png new file mode 100644 index 0000000000000000000000000000000000000000..2ca5cf476f6150527a6197299d0173410d40c4a9 --- /dev/null +++ b/train/FloorPlan223_physics/46/rgb_1_mask_Window|+01.48|+01.51|-01.93.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e40d1bb3d9098c8efc69c50193bc3c23f4fc5741bbc1a7a3fb0fb8ca42fa07d +size 644646 diff --git a/train/FloorPlan223_physics/46/semantic_1.png b/train/FloorPlan223_physics/46/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bd09f0015d1bfbcdebfe654831e7fd236ff3f322 Binary files /dev/null and b/train/FloorPlan223_physics/46/semantic_1.png differ diff --git a/train/FloorPlan223_physics/48/0.json b/train/FloorPlan223_physics/48/0.json new file mode 100644 index 0000000000000000000000000000000000000000..5e106678049b7fca8df1833dfe2b454c902a787d --- /dev/null +++ b/train/FloorPlan223_physics/48/0.json @@ -0,0 +1,2667 @@ +{ + "object": [ + { + "objectId": "WateringCan|-03.25|00.00|-01.86", + "object_info": { + "name": "WateringCan_31a595df", + "position": { + "x": -3.2522449493408203, + "y": -0.0008590668439865112, + "z": -1.8618444204330444 + }, + "rotation": { + "x": -0.0003620765928644687, + "y": -0.000614947231952101, + "z": 0.0007242992869578302 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.4430603981018066, + "objectType": "WateringCan", + "objectId": "WateringCan|-03.25|00.00|-01.86", + "assetId": "Watering_Can_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.176553726196289, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.9819858074188232 + ] + ], + "center": { + "x": -3.2522456645965576, + "y": 0.09692596644163132, + "z": -1.8485687971115112 + }, + "size": { + "x": 0.1513838768005371, + "y": 0.19385077059268951, + "z": 0.266834020614624 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1765549182891846, + 5.470355972647667e-07, + -1.715149998664856 + ], + [ + -3.3279380798339844, + -6.129266694188118e-07, + -1.7151516675949097 + ], + [ + -3.327935218811035, + -1.2035015970468521e-06, + -1.9819879531860352 + ], + [ + -3.1765518188476562, + -4.353933036327362e-08, + -1.9819862842559814 + ], + [ + -3.176556348800659, + 0.19385217130184174, + -1.7151503562927246 + ], + [ + -3.327939510345459, + 0.19385100901126862, + -1.7151521444320679 + ], + [ + -3.3279366493225098, + 0.19385041296482086, + -1.9819884300231934 + ], + [ + -3.17655348777771, + 0.19385157525539398, + -1.9819867610931396 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "object_info": { + "name": "GarbageCan_cf69fd43", + "position": { + "x": 0.29969024658203125, + "y": 7.18235969543457e-06, + "z": 1.2532256841659546 + }, + "rotation": { + "x": 0.0006593925645574927, + "y": 2.2150020599365234, + "z": -0.002282413886860013 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7383514642715454, + "objectType": "GarbageCan", + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4879261255264282, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.0650081634521484 + ] + ], + "center": { + "x": 0.2996993362903595, + "y": 0.32798317074775696, + "z": 1.2532281875610352 + }, + "size": { + "x": 0.37645357847213745, + "y": 0.6559673547744751, + "z": 0.37644004821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.49219784140586853, + -3.6668598113465123e-07, + 1.4313961267471313 + ], + [ + 0.12151965498924255, + 9.915489499690011e-06, + 1.4457334280014038 + ], + [ + 0.10718235373497009, + 1.3122078598826192e-05, + 1.0750552415847778 + ], + [ + 0.47786054015159607, + 2.839903572748881e-06, + 1.0607179403305054 + ], + [ + 0.49221622943878174, + 0.6559540033340454, + 1.431401014328003 + ], + [ + 0.12153804302215576, + 0.6559642553329468, + 1.4457383155822754 + ], + [ + 0.1072007417678833, + 0.6559674739837646, + 1.0750601291656494 + ], + [ + 0.4778789281845093, + 0.6559572219848633, + 1.060722827911377 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|-01.61", + "object_info": { + "name": "SideTable_32f926b8", + "position": { + "x": -3.597963809967041, + "y": 0.004360944032669067, + "z": -1.6070078611373901 + }, + "rotation": { + "x": 0.003428330644965172, + "y": 0.002825607778504491, + "z": 359.70733642578125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|-03.58|+00.60|-01.62" + ], + "distance": 3.6033060550689697, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|-01.61", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.425083637237549, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.425083637237549, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.7844332456588745 + ] + ], + "center": { + "x": -3.5953938961029053, + "y": 0.3019649386405945, + "z": -1.6094589233398438 + }, + "size": { + "x": 0.3406205177307129, + "y": 0.6039294004440308, + "z": 0.3499486446380615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425757646560669, + -0.0015295855700969696, + -1.434476375579834 + ], + [ + -3.7657032012939453, + 0.0001298254355788231, + -1.4344571828842163 + ], + [ + -3.76572322845459, + 6.832834333181381e-05, + -1.7844345569610596 + ], + [ + -3.4257779121398926, + -0.0015910826623439789, + -1.7844538688659668 + ], + [ + -3.4228098392486572, + 0.6023802757263184, + -1.4345827102661133 + ], + [ + -3.7627553939819336, + 0.6040396690368652, + -1.4345635175704956 + ], + [ + -3.762775421142578, + 0.603978157043457, + -1.7845408916473389 + ], + [ + -3.4228298664093018, + 0.6023187637329102, + -1.7845600843429565 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.1000001430511475, + "y": 0.9009991884231567, + "z": 0.4000000059604645 + }, + "agent_rotation": { + "x": -0.0, + "y": 281.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.1000001430511475, + "y": 1.5759992599487305, + "z": 0.4000000059604645 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|+02.22|00.00|+00.15", + "Vase|+01.57|+00.78|-00.31", + "Vase|+01.84|+00.78|-00.30", + "Plate|+01.36|+00.78|-00.62", + "Chair|+01.64|00.00|-00.85", + "DiningTable|+01.88|+00.00|-00.29", + "Chair|+01.46|00.00|+00.20" + ], + "different_object": [ + "WateringCan|-03.25|00.00|-01.86", + "Sofa|-03.42|+00.01|-00.04", + "GarbageCan|+00.30|+00.00|+01.25", + "ArmChair|-02.01|+00.01|-01.58", + "Pillow|-01.93|+00.37|-01.49", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "SideTable|-03.60|+00.00|-01.61", + "HousePlant|-03.58|+00.60|-01.62", + "Window|-02.00|+01.51|-01.93" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/48/0_depth_npy.npy b/train/FloorPlan223_physics/48/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..bc7e96254d2bfaa2a48c137245c3922d44f91524 --- /dev/null +++ b/train/FloorPlan223_physics/48/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ebd1c38885a3b867d9d394ff1f387a5d997abb7a2797d2fc8c289e3d40eca66 +size 3145856 diff --git a/train/FloorPlan223_physics/48/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/48/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..2a53ffad6b0e02cd6ddc9f10f4d3d065fd076052 --- /dev/null +++ b/train/FloorPlan223_physics/48/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d339343693552c930482269076078a0dabe735799c808a31c73a92939b38fdb +size 2359424 diff --git a/train/FloorPlan223_physics/48/1.json b/train/FloorPlan223_physics/48/1.json new file mode 100644 index 0000000000000000000000000000000000000000..8604ee3d90179a54de5aa69f57b36c1924c83d05 --- /dev/null +++ b/train/FloorPlan223_physics/48/1.json @@ -0,0 +1,1783 @@ +{ + "object": [ + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "Window|+03.48|+01.51|-01.93", + "object_info": { + "name": "Window_dea94267", + "position": { + "x": 3.4800000190734863, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.463291168212891, + "objectType": "Window", + "objectId": "Window|+03.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.960000514984131, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.960000514984131, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -2.0399999618530273 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -2.0399999618530273 + ] + ], + "center": { + "x": 3.5, + "y": 1.0739160776138306, + "z": -1.9994010925292969 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.147834062576294, + "z": 0.08119773864746094 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Painting|+04.14|+01.59|-00.30", + "object_info": { + "name": "Painting_984aa9d5", + "position": { + "x": 4.136000156402588, + "y": 1.590999960899353, + "z": -0.296999990940094 + }, + "rotation": { + "x": 90.0, + "y": 270.00006103515625, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.696467399597168, + "objectType": "Painting", + "objectId": "Painting|+04.14|+01.59|-00.30", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.215344429016113, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.215344429016113, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.215344429016113, + 1.1690006256103516, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 2.013831615447998, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 2.013831615447998, + -0.8613617420196533 + ], + [ + 4.126239776611328, + 1.1690006256103516, + 0.3173421621322632 + ], + [ + 4.126239776611328, + 1.1690006256103516, + -0.8613617420196533 + ] + ], + "center": { + "x": 4.170792102813721, + "y": 1.5914161205291748, + "z": -0.27200978994369507 + }, + "size": { + "x": 0.08910465240478516, + "y": 0.8448309898376465, + "z": 1.1787039041519165 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 0.6000000238418579, + "y": 0.9009991884231567, + "z": 0.699999988079071 + }, + "agent_rotation": { + "x": -0.0, + "y": 154.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 0.6000000238418579, + "y": 1.5759992599487305, + "z": 0.699999988079071 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Chair|+02.22|00.00|+00.15", + "Vase|+01.57|+00.78|-00.31", + "Vase|+01.84|+00.78|-00.30", + "Plate|+01.36|+00.78|-00.62", + "Chair|+01.64|00.00|-00.85", + "DiningTable|+01.88|+00.00|-00.29", + "Chair|+01.46|00.00|+00.20" + ], + "different_object": [ + "Window|+03.48|+01.51|-01.93", + "Box|+01.27|+00.15|-00.29", + "Painting|+04.14|+01.59|-00.30", + "Window|+01.48|+01.51|-01.93", + "Chair|+02.29|00.00|-00.78" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/48/1_depth_npy.npy b/train/FloorPlan223_physics/48/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..f9dbfa9b6e64f6dff63b9c8d3690365e05dc4f2b --- /dev/null +++ b/train/FloorPlan223_physics/48/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1708fb37708fb103d1dd3c4ca4fa1afcc6c4cc77621f051fc11a4cab88b2977e +size 3145856 diff --git a/train/FloorPlan223_physics/48/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/48/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..046415342cc9bf451a987769f352cc8a35d7dc44 --- /dev/null +++ b/train/FloorPlan223_physics/48/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d39cf5ac8f15f8b02abef5436b95ecd93a8a9f0f576574ff7b6d1f2993225700 +size 2359424 diff --git a/train/FloorPlan223_physics/48/depth_0.png b/train/FloorPlan223_physics/48/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c2da1fdc320f7f7eedf41325b9c2459fbbe4c27e Binary files /dev/null and b/train/FloorPlan223_physics/48/depth_0.png differ diff --git a/train/FloorPlan223_physics/48/depth_1.png b/train/FloorPlan223_physics/48/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..678138ba3d8057c2c2e9e934ca9506a165bc54d9 Binary files /dev/null and b/train/FloorPlan223_physics/48/depth_1.png differ diff --git a/train/FloorPlan223_physics/48/mask_questions.jsonl b/train/FloorPlan223_physics/48/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cba35490aa9fd61760421fb9eb9f703be4fefaf5 --- /dev/null +++ b/train/FloorPlan223_physics/48/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 20331, "folder_dir": "FloorPlan223_physics/48", "pair_name": "0-1:Vase|+01.84|+00.78|-00.30", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Vase\nB. GarbageCan\nC. Sofa\nD. Chair", "answer": "A", "object_name": "Vase", "image_1": "FloorPlan223_physics/48/rgb_0.png", "image_2": "FloorPlan223_physics/48/rgb_1.png", "mask_image": "FloorPlan223_physics/48/rgb_1_mask_Vase|+01.84|+00.78|-00.30.png", "options": ["Vase", "GarbageCan", "Sofa", "Chair"]} +{"id": 20332, "folder_dir": "FloorPlan223_physics/48", "pair_name": "0-1:Chair|+01.46|00.00|+00.20", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Pillow\nB. Chair\nC. Window\nD. Chair", "answer": "B", "object_name": "Chair", "image_1": "FloorPlan223_physics/48/rgb_0.png", "image_2": "FloorPlan223_physics/48/rgb_1.png", "mask_image": "FloorPlan223_physics/48/rgb_1_mask_Chair|+01.46|00.00|+00.20.png", "options": ["Pillow", "Chair", "Window", "Chair"]} +{"id": 20333, "folder_dir": "FloorPlan223_physics/48", "pair_name": "1-0:Chair|+02.22|00.00|+00.15", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. Vase\nC. Box\nD. Chair", "answer": "D", "object_name": "Chair", "image_1": "FloorPlan223_physics/48/rgb_1.png", "image_2": "FloorPlan223_physics/48/rgb_0.png", "mask_image": "FloorPlan223_physics/48/rgb_0_mask_Chair|+02.22|00.00|+00.15.png", "options": ["Painting", "Vase", "Box", "Chair"]} diff --git a/train/FloorPlan223_physics/48/questions_distance.jsonl b/train/FloorPlan223_physics/48/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e44303e607cef5f078c77f2ca5080a7c8722344 --- /dev/null +++ b/train/FloorPlan223_physics/48/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 6008, "folder_dir": "FloorPlan223_physics/48", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. Box\nC. Plate\nD. Other\n", "answer": "B", "src_object": "DiningTable", "target_object": "Box", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "GarbageCan", "semantic_id": "GarbageCan|+00.30|+00.00|+01.25", "distance": 2.2139714883209467, "com": {"x": 0.2996993362903595, "y": 0.32798317074775696, "z": 1.2532281875610352}}, {"text": "Box", "semantic_id": "Box|+01.27|+00.15|-00.29", "distance": 0.6851397287211983, "com": {"x": 1.2528727054595947, "y": 0.13431625068187714, "z": -0.365255743265152}}, {"text": "Plate", "semantic_id": "Plate|+01.36|+00.78|-00.62", "distance": 0.7378836752432911, "com": {"x": 1.36051607131958, "y": 0.7897693514823914, "z": -0.6254259347915649}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/48/rgb_0.png", "image_2": "FloorPlan223_physics/48/rgb_1.png"} diff --git a/train/FloorPlan223_physics/48/rgb_0.png b/train/FloorPlan223_physics/48/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6f7d878945ec0ab2cbbb12e79a2dc1606bc6fe65 --- /dev/null +++ b/train/FloorPlan223_physics/48/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e4f81c14708342ffcd726d4b1e18d3aeb366ac250458900e818ed21e50d494e +size 870544 diff --git a/train/FloorPlan223_physics/48/rgb_0_mask_Chair|+02.22|00.00|+00.15.png b/train/FloorPlan223_physics/48/rgb_0_mask_Chair|+02.22|00.00|+00.15.png new file mode 100644 index 0000000000000000000000000000000000000000..71a10c94df5020dd7f2b8681a040ac19657b442d --- /dev/null +++ b/train/FloorPlan223_physics/48/rgb_0_mask_Chair|+02.22|00.00|+00.15.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92a92e53640a83e75ce6e5468330bb15eda130e892b16d6e5d2c30eb21395f26 +size 759857 diff --git a/train/FloorPlan223_physics/48/rgb_1.png b/train/FloorPlan223_physics/48/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..26d191de808c0a6099215ad0974287a8d7d65323 --- /dev/null +++ b/train/FloorPlan223_physics/48/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28a1a93a2809fa3161160d887bbaca465d480605ef24efb8b448bbb49a14ad9b +size 799513 diff --git a/train/FloorPlan223_physics/48/rgb_1_mask_Chair|+01.46|00.00|+00.20.png b/train/FloorPlan223_physics/48/rgb_1_mask_Chair|+01.46|00.00|+00.20.png new file mode 100644 index 0000000000000000000000000000000000000000..e25b779a54e29a1cfa0b35af2417033bcbf2fa0c --- /dev/null +++ b/train/FloorPlan223_physics/48/rgb_1_mask_Chair|+01.46|00.00|+00.20.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d347cb133cf7051c5e54f75e2737139ef9709f00ee71618358f8e9af80b965e9 +size 699509 diff --git a/train/FloorPlan223_physics/48/rgb_1_mask_Vase|+01.84|+00.78|-00.30.png b/train/FloorPlan223_physics/48/rgb_1_mask_Vase|+01.84|+00.78|-00.30.png new file mode 100644 index 0000000000000000000000000000000000000000..d8f16eeb2c4178690482faa2cd8bec5a2a1faa31 --- /dev/null +++ b/train/FloorPlan223_physics/48/rgb_1_mask_Vase|+01.84|+00.78|-00.30.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7d5021bfde86622e39ea89107ab1918415b4ed24276c87598d27d4976ba0878 +size 701712 diff --git a/train/FloorPlan223_physics/48/semantic_0.png b/train/FloorPlan223_physics/48/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ab0629afae106dbf490c53ce9e8d1f1bbc4daee5 Binary files /dev/null and b/train/FloorPlan223_physics/48/semantic_0.png differ diff --git a/train/FloorPlan223_physics/48/semantic_1.png b/train/FloorPlan223_physics/48/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..02c22cefae6cb30c179d19f5a29ff3a7494ee407 Binary files /dev/null and b/train/FloorPlan223_physics/48/semantic_1.png differ diff --git a/train/FloorPlan223_physics/49/0.json b/train/FloorPlan223_physics/49/0.json new file mode 100644 index 0000000000000000000000000000000000000000..4efe07c85777ece68da21bd15531a10f5d0a5e46 --- /dev/null +++ b/train/FloorPlan223_physics/49/0.json @@ -0,0 +1,1825 @@ +{ + "object": [ + { + "objectId": "WateringCan|-03.25|00.00|-01.86", + "object_info": { + "name": "WateringCan_31a595df", + "position": { + "x": -3.2522449493408203, + "y": -0.0008590668439865112, + "z": -1.8618444204330444 + }, + "rotation": { + "x": -0.0003620765928644687, + "y": -0.000614947231952101, + "z": 0.0007242992869578302 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.4430603981018066, + "objectType": "WateringCan", + "objectId": "WateringCan|-03.25|00.00|-01.86", + "assetId": "Watering_Can_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.176553726196289, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.9819858074188232 + ] + ], + "center": { + "x": -3.2522456645965576, + "y": 0.09692596644163132, + "z": -1.8485687971115112 + }, + "size": { + "x": 0.1513838768005371, + "y": 0.19385077059268951, + "z": 0.266834020614624 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1765549182891846, + 5.470355972647667e-07, + -1.715149998664856 + ], + [ + -3.3279380798339844, + -6.129266694188118e-07, + -1.7151516675949097 + ], + [ + -3.327935218811035, + -1.2035015970468521e-06, + -1.9819879531860352 + ], + [ + -3.1765518188476562, + -4.353933036327362e-08, + -1.9819862842559814 + ], + [ + -3.176556348800659, + 0.19385217130184174, + -1.7151503562927246 + ], + [ + -3.327939510345459, + 0.19385100901126862, + -1.7151521444320679 + ], + [ + -3.3279366493225098, + 0.19385041296482086, + -1.9819884300231934 + ], + [ + -3.17655348777771, + 0.19385157525539398, + -1.9819867610931396 + ] + ] + } + } + }, + { + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "object_info": { + "name": "LightSwitch_477ce142", + "position": { + "x": -3.9000000953674316, + "y": 1.284000039100647, + "z": 1.684000015258789 + }, + "rotation": { + "x": -0.0, + "y": 90.00005340576172, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": true, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.813469171524048, + "objectType": "LightSwitch", + "objectId": "LightSwitch|-03.90|+01.28|+01.68", + "assetId": "Light_Switch_23", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.8669681549072266, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.8669681549072266, + 1.2027760744094849, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.3674954175949097, + 1.64006507396698 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.7279349565505981 + ], + [ + -3.9000000953674316, + 1.2027760744094849, + 1.64006507396698 + ] + ], + "center": { + "x": -3.883484125137329, + "y": 1.2851357460021973, + "z": 1.684000015258789 + }, + "size": { + "x": 0.03303194046020508, + "y": 0.1647193431854248, + "z": 0.08786988258361816 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|+01.44", + "object_info": { + "name": "SideTable_ef1b602c", + "position": { + "x": -3.5979855060577393, + "y": 0.004337579011917114, + "z": 1.4379733800888062 + }, + "rotation": { + "x": 359.8045959472656, + "y": -0.00013349241635296494, + "z": 359.9132080078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|-03.59|+00.60|+01.43" + ], + "distance": 3.5311872959136963, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|+01.44", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.4255571365356445, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.4255571365356445, + -1.3947486877441406e-05, + 1.260542392730713 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + 0.6038875579833984, + 1.260542392730713 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.6102938652038574 + ], + [ + -3.7657103538513184, + -1.3947486877441406e-05, + 1.260542392730713 + ] + ], + "center": { + "x": -3.5956337451934814, + "y": 0.3019368052482605, + "z": 1.4354181289672852 + }, + "size": { + "x": 0.34015321731567383, + "y": 0.6039015054702759, + "z": 0.34975147247314453 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425769567489624, + -0.000412600114941597, + 1.610532522201538 + ], + [ + -3.765719413757324, + 0.00010331394150853157, + 1.6105319261550903 + ], + [ + -3.7657206058502197, + -0.0010759038850665092, + 1.260555386543274 + ], + [ + -3.4257707595825195, + -0.0015918179415166378, + 1.2605559825897217 + ], + [ + -3.4248530864715576, + 0.6035022735595703, + 1.6084977388381958 + ], + [ + -3.764802932739258, + 0.6040182113647461, + 1.608497142791748 + ], + [ + -3.7648041248321533, + 0.6028389930725098, + 1.258520483970642 + ], + [ + -3.424854278564453, + 0.602323055267334, + 1.2585210800170898 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "Statue|-03.59|+00.60|+01.43", + "object_info": { + "name": "Statue_b51b8ac3", + "position": { + "x": -3.591968536376953, + "y": 0.6028220653533936, + "z": 1.4310815334320068 + }, + "rotation": { + "x": 0.07878818362951279, + "y": 90.00411224365234, + "z": 359.8116455078125 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 3.4201130867004395, + "objectType": "Statue", + "objectId": "Statue|-03.59|+00.60|+01.43", + "assetId": "Towel_Statue_1", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|+01.44" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.5098624229431152, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.5098624229431152, + 0.6028435230255127, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 1.014123558998108, + 1.3489149808883667 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.5131326913833618 + ], + [ + -3.6739954948425293, + 0.6028435230255127, + 1.3489149808883667 + ] + ], + "center": { + "x": -3.5919289588928223, + "y": 0.8084835410118103, + "z": 1.4310238361358643 + }, + "size": { + "x": 0.16413307189941406, + "y": 0.4112800359725952, + "z": 0.16421771049499512 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.5099401473999023, + 0.6027724146842957, + 1.3490607738494873 + ], + [ + -3.5099236965179443, + 0.603306770324707, + 1.5131219625473022 + ], + [ + -3.673985004425049, + 0.6035440564155579, + 1.513137698173523 + ], + [ + -3.674001455307007, + 0.6030097007751465, + 1.349076509475708 + ], + [ + -3.509345769882202, + 1.0137324333190918, + 1.3477221727371216 + ], + [ + -3.509329319000244, + 1.014266848564148, + 1.5117833614349365 + ], + [ + -3.6733906269073486, + 1.0145041942596436, + 1.5117990970611572 + ], + [ + -3.6734070777893066, + 1.0139697790145874, + 1.3477379083633423 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|-01.61", + "object_info": { + "name": "SideTable_32f926b8", + "position": { + "x": -3.597963809967041, + "y": 0.004360944032669067, + "z": -1.6070078611373901 + }, + "rotation": { + "x": 0.003428330644965172, + "y": 0.002825607778504491, + "z": 359.70733642578125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|-03.58|+00.60|-01.62" + ], + "distance": 3.6033060550689697, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|-01.61", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.425083637237549, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.425083637237549, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.7844332456588745 + ] + ], + "center": { + "x": -3.5953938961029053, + "y": 0.3019649386405945, + "z": -1.6094589233398438 + }, + "size": { + "x": 0.3406205177307129, + "y": 0.6039294004440308, + "z": 0.3499486446380615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425757646560669, + -0.0015295855700969696, + -1.434476375579834 + ], + [ + -3.7657032012939453, + 0.0001298254355788231, + -1.4344571828842163 + ], + [ + -3.76572322845459, + 6.832834333181381e-05, + -1.7844345569610596 + ], + [ + -3.4257779121398926, + -0.0015910826623439789, + -1.7844538688659668 + ], + [ + -3.4228098392486572, + 0.6023802757263184, + -1.4345827102661133 + ], + [ + -3.7627553939819336, + 0.6040396690368652, + -1.4345635175704956 + ], + [ + -3.762775421142578, + 0.603978157043457, + -1.7845408916473389 + ], + [ + -3.4228298664093018, + 0.6023187637329102, + -1.7845600843429565 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -0.09999999403953552, + "y": 0.9009991884231567, + "z": -0.10000000149011612 + }, + "agent_rotation": { + "x": -0.0, + "y": 262.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -0.09999999403953552, + "y": 1.5759992599487305, + "z": -0.10000000149011612 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "WateringCan|-03.25|00.00|-01.86", + "Sofa|-03.42|+00.01|-00.04", + "ArmChair|-02.01|+00.01|-01.58", + "Pillow|-01.93|+00.37|-01.49", + "SideTable|-03.60|+00.00|-01.61", + "HousePlant|-03.58|+00.60|-01.62", + "Window|-02.00|+01.51|-01.93" + ], + "different_object": [ + "SideTable|-03.60|+00.00|+01.44", + "LightSwitch|-03.90|+01.28|+01.68", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "Statue|-03.59|+00.60|+01.43" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/49/0_depth_npy.npy b/train/FloorPlan223_physics/49/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..5a2a07bd72bedd248b8a453e0aaedb89f5d54550 --- /dev/null +++ b/train/FloorPlan223_physics/49/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f089f09b82ba6138f20e296fe4314c9f7d5a8f0be65db5b9eefd9340074653c0 +size 3145856 diff --git a/train/FloorPlan223_physics/49/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/49/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..aa05684afeb9cb08cef1748eb660736f912d60d7 --- /dev/null +++ b/train/FloorPlan223_physics/49/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00ababb04bd7e0de7744db5f7fb6f25d775d2f9988dcf7d2e87a0ee1a05cb266 +size 2359424 diff --git a/train/FloorPlan223_physics/49/1.json b/train/FloorPlan223_physics/49/1.json new file mode 100644 index 0000000000000000000000000000000000000000..94565525b0aa936c7fd9098f3a72fa6414e0ae21 --- /dev/null +++ b/train/FloorPlan223_physics/49/1.json @@ -0,0 +1,1828 @@ +{ + "object": [ + { + "objectId": "WateringCan|-03.25|00.00|-01.86", + "object_info": { + "name": "WateringCan_31a595df", + "position": { + "x": -3.2522449493408203, + "y": -0.0008590668439865112, + "z": -1.8618444204330444 + }, + "rotation": { + "x": -0.0003620765928644687, + "y": -0.000614947231952101, + "z": 0.0007242992869578302 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.4430603981018066, + "objectType": "WateringCan", + "objectId": "WateringCan|-03.25|00.00|-01.86", + "assetId": "Watering_Can_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.176553726196289, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.9819858074188232 + ] + ], + "center": { + "x": -3.2522456645965576, + "y": 0.09692596644163132, + "z": -1.8485687971115112 + }, + "size": { + "x": 0.1513838768005371, + "y": 0.19385077059268951, + "z": 0.266834020614624 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1765549182891846, + 5.470355972647667e-07, + -1.715149998664856 + ], + [ + -3.3279380798339844, + -6.129266694188118e-07, + -1.7151516675949097 + ], + [ + -3.327935218811035, + -1.2035015970468521e-06, + -1.9819879531860352 + ], + [ + -3.1765518188476562, + -4.353933036327362e-08, + -1.9819862842559814 + ], + [ + -3.176556348800659, + 0.19385217130184174, + -1.7151503562927246 + ], + [ + -3.327939510345459, + 0.19385100901126862, + -1.7151521444320679 + ], + [ + -3.3279366493225098, + 0.19385041296482086, + -1.9819884300231934 + ], + [ + -3.17655348777771, + 0.19385157525539398, + -1.9819867610931396 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|-01.61", + "object_info": { + "name": "SideTable_32f926b8", + "position": { + "x": -3.597963809967041, + "y": 0.004360944032669067, + "z": -1.6070078611373901 + }, + "rotation": { + "x": 0.003428330644965172, + "y": 0.002825607778504491, + "z": 359.70733642578125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|-03.58|+00.60|-01.62" + ], + "distance": 3.6033060550689697, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|-01.61", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.425083637237549, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.425083637237549, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.7844332456588745 + ] + ], + "center": { + "x": -3.5953938961029053, + "y": 0.3019649386405945, + "z": -1.6094589233398438 + }, + "size": { + "x": 0.3406205177307129, + "y": 0.6039294004440308, + "z": 0.3499486446380615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425757646560669, + -0.0015295855700969696, + -1.434476375579834 + ], + [ + -3.7657032012939453, + 0.0001298254355788231, + -1.4344571828842163 + ], + [ + -3.76572322845459, + 6.832834333181381e-05, + -1.7844345569610596 + ], + [ + -3.4257779121398926, + -0.0015910826623439789, + -1.7844538688659668 + ], + [ + -3.4228098392486572, + 0.6023802757263184, + -1.4345827102661133 + ], + [ + -3.7627553939819336, + 0.6040396690368652, + -1.4345635175704956 + ], + [ + -3.762775421142578, + 0.603978157043457, + -1.7845408916473389 + ], + [ + -3.4228298664093018, + 0.6023187637329102, + -1.7845600843429565 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 0.8000000715255737, + "y": 0.9009991884231567, + "z": 0.9000000357627869 + }, + "agent_rotation": { + "x": -0.0, + "y": 199.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 0.8000000715255737, + "y": 1.5759992599487305, + "z": 0.9000000357627869 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "WateringCan|-03.25|00.00|-01.86", + "Sofa|-03.42|+00.01|-00.04", + "ArmChair|-02.01|+00.01|-01.58", + "Pillow|-01.93|+00.37|-01.49", + "SideTable|-03.60|+00.00|-01.61", + "HousePlant|-03.58|+00.60|-01.62", + "Window|-02.00|+01.51|-01.93" + ], + "different_object": [ + "Vase|+01.57|+00.78|-00.31", + "Chair|+01.64|00.00|-00.85", + "Plate|+01.36|+00.78|-00.62", + "DiningTable|+01.88|+00.00|-00.29", + "Window|+01.48|+01.51|-01.93" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/49/1_depth_npy.npy b/train/FloorPlan223_physics/49/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b37d25e3ca7205975555df5f7fe322e7c0cfe767 --- /dev/null +++ b/train/FloorPlan223_physics/49/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8346fc50feefae8db427ab8d073baa54620b59ec7cf1e781d0d37d3aafe7347 +size 3145856 diff --git a/train/FloorPlan223_physics/49/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/49/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d09507bd7ba94b269179fd4391018996b978bc95 --- /dev/null +++ b/train/FloorPlan223_physics/49/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb4764731cafc4c0d914f7a84d659a54355aa5f8c134d6482d393ea9f8f0953b +size 2359424 diff --git a/train/FloorPlan223_physics/49/depth_0.png b/train/FloorPlan223_physics/49/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..9e8e84e523e9fac14f2ec64e808e2a82600e7ed4 Binary files /dev/null and b/train/FloorPlan223_physics/49/depth_0.png differ diff --git a/train/FloorPlan223_physics/49/depth_1.png b/train/FloorPlan223_physics/49/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..5ff14b8673159fb11f1c6ad128d79ddef826c468 Binary files /dev/null and b/train/FloorPlan223_physics/49/depth_1.png differ diff --git a/train/FloorPlan223_physics/49/mask_questions.jsonl b/train/FloorPlan223_physics/49/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3fcfe09f65f331a59b29bf7dadfb0ff829624429 --- /dev/null +++ b/train/FloorPlan223_physics/49/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 20359, "folder_dir": "FloorPlan223_physics/49", "pair_name": "0-1:Window|-02.00|+01.51|-01.93", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Laptop\nB. CoffeeTable\nC. Window\nD. WateringCan", "answer": "C", "object_name": "Window", "image_1": "FloorPlan223_physics/49/rgb_0.png", "image_2": "FloorPlan223_physics/49/rgb_1.png", "mask_image": "FloorPlan223_physics/49/rgb_1_mask_Window|-02.00|+01.51|-01.93.png", "options": ["Laptop", "CoffeeTable", "Window", "WateringCan"]} +{"id": 20360, "folder_dir": "FloorPlan223_physics/49", "pair_name": "1-0:Pillow|-01.93|+00.37|-01.49", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. WateringCan\nB. Pillow\nC. Chair\nD. Plate", "answer": "B", "object_name": "Pillow", "image_1": "FloorPlan223_physics/49/rgb_1.png", "image_2": "FloorPlan223_physics/49/rgb_0.png", "mask_image": "FloorPlan223_physics/49/rgb_0_mask_Pillow|-01.93|+00.37|-01.49.png", "options": ["WateringCan", "Pillow", "Chair", "Plate"]} +{"id": 20361, "folder_dir": "FloorPlan223_physics/49", "pair_name": "1-0:Window|-02.00|+01.51|-01.93", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plate\nB. Chair\nC. Window\nD. WateringCan", "answer": "C", "object_name": "Window", "image_1": "FloorPlan223_physics/49/rgb_1.png", "image_2": "FloorPlan223_physics/49/rgb_0.png", "mask_image": "FloorPlan223_physics/49/rgb_0_mask_Window|-02.00|+01.51|-01.93.png", "options": ["Plate", "Chair", "Window", "WateringCan"]} diff --git a/train/FloorPlan223_physics/49/questions_distance.jsonl b/train/FloorPlan223_physics/49/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e221b23fc086559e74211e476392bc17e1f0f24c --- /dev/null +++ b/train/FloorPlan223_physics/49/questions_distance.jsonl @@ -0,0 +1 @@ +{"id": 6016, "folder_dir": "FloorPlan223_physics/49", "query": "Which of the following objects is closest to ArmChair in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Laptop\nB. Pillow\nC. WateringCan\nD. Other\n", "answer": "B", "src_object": "ArmChair", "target_object": "Pillow", "question": "Which of the following objects is closest to ArmChair in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Laptop", "semantic_id": "Laptop|-02.02|+00.45|-00.12", "distance": 1.4853363618066138, "com": {"x": -2.011923313140869, "y": 0.6075440645217896, "z": -0.1197483092546463}}, {"text": "Pillow", "semantic_id": "Pillow|-01.93|+00.37|-01.49", "distance": 0.1285753586842756, "com": {"x": -1.91756272315979, "y": 0.37403398752212524, "z": -1.487987756729126}}, {"text": "WateringCan", "semantic_id": "WateringCan|-03.25|00.00|-01.86", "distance": 1.3055923625630197, "com": {"x": -3.2522456645965576, "y": 0.09692596644163132, "z": -1.8485687971115112}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/49/rgb_0.png", "image_2": "FloorPlan223_physics/49/rgb_1.png"} diff --git a/train/FloorPlan223_physics/49/rgb_0.png b/train/FloorPlan223_physics/49/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..8b8f95dd16bcf579428dd2bd8c1cdbc5f50d2efc --- /dev/null +++ b/train/FloorPlan223_physics/49/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a17bc1758decc8922e38ac4ac0fd1219d8e069328a199c3aaed26a3ea045fd13 +size 739289 diff --git a/train/FloorPlan223_physics/49/rgb_0_mask_Pillow|-01.93|+00.37|-01.49.png b/train/FloorPlan223_physics/49/rgb_0_mask_Pillow|-01.93|+00.37|-01.49.png new file mode 100644 index 0000000000000000000000000000000000000000..2e414fe1264489a1d37f9dc4fea0bb3941808eef --- /dev/null +++ b/train/FloorPlan223_physics/49/rgb_0_mask_Pillow|-01.93|+00.37|-01.49.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ccdbd49e514dcb2be02bd6b9b8d7ebe95871860b66f68943b9d5865db034f3b +size 642624 diff --git a/train/FloorPlan223_physics/49/rgb_0_mask_Window|-02.00|+01.51|-01.93.png b/train/FloorPlan223_physics/49/rgb_0_mask_Window|-02.00|+01.51|-01.93.png new file mode 100644 index 0000000000000000000000000000000000000000..0f6d19a4c5e1cce1615d2e57bda37af27eddc566 --- /dev/null +++ b/train/FloorPlan223_physics/49/rgb_0_mask_Window|-02.00|+01.51|-01.93.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c21bbe64a2eb58d6478c529fd2a3e7f8acc427ab14a7b3cc4475d0104979125e +size 625105 diff --git a/train/FloorPlan223_physics/49/rgb_1.png b/train/FloorPlan223_physics/49/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..421c92cc74a92582bdfdd69fadb994bf8c85b76d --- /dev/null +++ b/train/FloorPlan223_physics/49/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6030dde4e9b3005a2cf4f26c547de095849e6a35319356b7a3ebdfb0be7232df +size 833829 diff --git a/train/FloorPlan223_physics/49/rgb_1_mask_Window|-02.00|+01.51|-01.93.png b/train/FloorPlan223_physics/49/rgb_1_mask_Window|-02.00|+01.51|-01.93.png new file mode 100644 index 0000000000000000000000000000000000000000..cc0d9abd778e791bf13584823f3c492eff15eb79 --- /dev/null +++ b/train/FloorPlan223_physics/49/rgb_1_mask_Window|-02.00|+01.51|-01.93.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b09d303a7b7fca1d354f601f49fbc7de173fcc8e47340ffee53431da6116b80a +size 725612 diff --git a/train/FloorPlan223_physics/49/semantic_0.png b/train/FloorPlan223_physics/49/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..0e257f0736b4ccdd56d66b3fda928e5079dcf9d3 Binary files /dev/null and b/train/FloorPlan223_physics/49/semantic_0.png differ diff --git a/train/FloorPlan223_physics/49/semantic_1.png b/train/FloorPlan223_physics/49/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..24b6edcdaa31374df5cfd461a41ae8520207907c Binary files /dev/null and b/train/FloorPlan223_physics/49/semantic_1.png differ diff --git a/train/FloorPlan223_physics/9/0.json b/train/FloorPlan223_physics/9/0.json new file mode 100644 index 0000000000000000000000000000000000000000..740c72313b04da90ba33887ba177dfca41050e66 --- /dev/null +++ b/train/FloorPlan223_physics/9/0.json @@ -0,0 +1,2100 @@ +{ + "object": [ + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.29|00.00|-00.78", + "object_info": { + "name": "Chair_a7a07de8", + "position": { + "x": 2.28800106048584, + "y": -0.00124359130859375, + "z": -0.7800188660621643 + }, + "rotation": { + "x": -0.0026046521961688995, + "y": -0.0005047134472988546, + "z": -0.0022068065591156483 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 3.032395362854004, + "objectType": "Chair", + "objectId": "Chair|+02.29|00.00|-00.78", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.482572317123413, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.482572317123413, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.482572317123413, + -3.5762786865234375e-07, + -1.012783408164978 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + 1.0271637439727783, + -1.012783408164978 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -0.5485790967941284 + ], + [ + 2.0934388637542725, + -3.5762786865234375e-07, + -1.012783408164978 + ] + ], + "center": { + "x": 2.2880055904388428, + "y": 0.5135816931724548, + "z": -0.7806812524795532 + }, + "size": { + "x": 0.3891334533691406, + "y": 1.027164101600647, + "z": 0.4642043113708496 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.4825682640075684, + 5.0888629630208015e-06, + -0.5485734939575195 + ], + [ + 2.0934362411499023, + 8.1994803622365e-06, + -0.5485730171203613 + ], + [ + 2.093435525894165, + 1.2096716091036797e-06, + -1.0127679109573364 + ], + [ + 2.48256778717041, + -1.9009457901120186e-06, + -1.0127683877944946 + ], + [ + 2.482576608657837, + 1.0271666049957275, + -0.5485889911651611 + ], + [ + 2.093444347381592, + 1.0271697044372559, + -0.5485884547233582 + ], + [ + 2.0934436321258545, + 1.027162790298462, + -1.0127832889556885 + ], + [ + 2.4825758934020996, + 1.0271596908569336, + -1.0127838850021362 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Window|+03.48|+01.51|-01.93", + "object_info": { + "name": "Window_dea94267", + "position": { + "x": 3.4800000190734863, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 4.463291168212891, + "objectType": "Window", + "objectId": "Window|+03.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.960000514984131, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.960000514984131, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.960000514984131, + -9.5367431640625e-07, + -2.0399999618530273 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -1.9588022232055664 + ], + [ + 3.039999485015869, + 2.1478331089019775, + -2.0399999618530273 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -1.9588022232055664 + ], + [ + 3.039999485015869, + -9.5367431640625e-07, + -2.0399999618530273 + ] + ], + "center": { + "x": 3.5, + "y": 1.0739160776138306, + "z": -1.9994010925292969 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.147834062576294, + "z": 0.08119773864746094 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Window|+01.48|+01.51|-01.93", + "object_info": { + "name": "Window_f2801871", + "position": { + "x": 1.4789999723434448, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.8278980255126953, + "objectType": "Window", + "objectId": "Window|+01.48|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9600005149841309, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.9600005149841309, + -9.5367431640625e-07, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + 2.1478331089019775, + -2.0500001907348633 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -1.9587998390197754 + ], + [ + 1.0399997234344482, + -9.5367431640625e-07, + -2.0500001907348633 + ] + ], + "center": { + "x": 1.5000001192092896, + "y": 1.0739160776138306, + "z": -2.0044000148773193 + }, + "size": { + "x": 0.9200007915496826, + "y": 2.147834062576294, + "z": 0.09120035171508789 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "Box|+01.27|+00.15|-00.29", + "object_info": { + "name": "Box_96b9882a", + "position": { + "x": 1.26997709274292, + "y": 0.15082143247127533, + "z": -0.2930365204811096 + }, + "rotation": { + "x": 359.9892883300781, + "y": 9.80191707611084, + "z": 0.003757153870537877 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.9445966482162476, + "objectType": "Box", + "objectId": "Box|+01.27|+00.15|-00.29", + "assetId": "Box_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5243809223175049, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 1.5243809223175049, + -1.6033649444580078e-05, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + 0.26864853501319885, + -0.6064289808273315 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.12408250570297241 + ], + [ + 0.9813644886016846, + -1.6033649444580078e-05, + -0.6064289808273315 + ] + ], + "center": { + "x": 1.2528727054595947, + "y": 0.13431625068187714, + "z": -0.365255743265152 + }, + "size": { + "x": 0.5430164337158203, + "y": 0.26866456866264343, + "z": 0.48234647512435913 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5415112972259521, + 1.6182661056518555e-05, + -0.20404040813446045 + ], + [ + 1.0375044345855713, + 5.125999450683594e-06, + -0.11696921288967133 + ], + [ + 0.966826856136322, + -2.384185791015625e-05, + -0.5260827541351318 + ], + [ + 1.470833659172058, + -1.2785196304321289e-05, + -0.6131539344787598 + ], + [ + 1.5415024757385254, + 0.2686804533004761, + -0.20405790209770203 + ], + [ + 1.0374956130981445, + 0.26866939663887024, + -0.11698669195175171 + ], + [ + 0.9668179154396057, + 0.2686404287815094, + -0.526100218296051 + ], + [ + 1.4708248376846313, + 0.26865148544311523, + -0.613171398639679 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": -2.4000000953674316, + "y": 0.9009991884231567, + "z": 1.100000023841858 + }, + "agent_rotation": { + "x": -0.0, + "y": 167.0, + "z": 0.0 + }, + "agent_cameraHorizon": -0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": -2.4000000953674316, + "y": 1.5759992599487305, + "z": 1.100000023841858 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Sofa|-03.42|+00.01|-00.04", + "Chair|+01.64|00.00|-00.85", + "Plate|+01.36|+00.78|-00.62", + "ArmChair|-02.01|+00.01|-01.58", + "Pillow|-01.93|+00.37|-01.49", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "HousePlant|-03.58|+00.60|-01.62", + "DiningTable|+01.88|+00.00|-00.29", + "Window|-02.00|+01.51|-01.93" + ], + "different_object": [ + "Box|+01.27|+00.15|-00.29", + "Window|+03.48|+01.51|-01.93", + "Window|+01.48|+01.51|-01.93", + "Chair|+02.29|00.00|-00.78" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/9/0_depth_npy.npy b/train/FloorPlan223_physics/9/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..68ee66509e4989e7cb518edba5c3e8fa0753afc8 --- /dev/null +++ b/train/FloorPlan223_physics/9/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:508bb1194f523f08934a4f779ae339de5b665dd1dd67ca6ce746f0e5be1a81ef +size 3145856 diff --git a/train/FloorPlan223_physics/9/0_semantic_sensor_npy.npy b/train/FloorPlan223_physics/9/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..4230820b571242a1d40263418144490da1d2ac37 --- /dev/null +++ b/train/FloorPlan223_physics/9/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:446a54e7c39f14b08f3c7bc5b1b9267ae4bfa351edd9b7626eb52672c799f2f0 +size 2359424 diff --git a/train/FloorPlan223_physics/9/1.json b/train/FloorPlan223_physics/9/1.json new file mode 100644 index 0000000000000000000000000000000000000000..e2efb2038db68b45ea277453b9232041e0670b5d --- /dev/null +++ b/train/FloorPlan223_physics/9/1.json @@ -0,0 +1,2667 @@ +{ + "object": [ + { + "objectId": "WateringCan|-03.25|00.00|-01.86", + "object_info": { + "name": "WateringCan_31a595df", + "position": { + "x": -3.2522449493408203, + "y": -0.0008590668439865112, + "z": -1.8618444204330444 + }, + "rotation": { + "x": -0.0003620765928644687, + "y": -0.000614947231952101, + "z": 0.0007242992869578302 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 3.4430603981018066, + "objectType": "WateringCan", + "objectId": "WateringCan|-03.25|00.00|-01.86", + "assetId": "Watering_Can_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.176553726196289, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.176553726196289, + 5.811452865600586e-07, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 0.19385135173797607, + -1.9819858074188232 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.7151517868041992 + ], + [ + -3.327937602996826, + 5.811452865600586e-07, + -1.9819858074188232 + ] + ], + "center": { + "x": -3.2522456645965576, + "y": 0.09692596644163132, + "z": -1.8485687971115112 + }, + "size": { + "x": 0.1513838768005371, + "y": 0.19385077059268951, + "z": 0.266834020614624 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.1765549182891846, + 5.470355972647667e-07, + -1.715149998664856 + ], + [ + -3.3279380798339844, + -6.129266694188118e-07, + -1.7151516675949097 + ], + [ + -3.327935218811035, + -1.2035015970468521e-06, + -1.9819879531860352 + ], + [ + -3.1765518188476562, + -4.353933036327362e-08, + -1.9819862842559814 + ], + [ + -3.176556348800659, + 0.19385217130184174, + -1.7151503562927246 + ], + [ + -3.327939510345459, + 0.19385100901126862, + -1.7151521444320679 + ], + [ + -3.3279366493225098, + 0.19385041296482086, + -1.9819884300231934 + ], + [ + -3.17655348777771, + 0.19385157525539398, + -1.9819867610931396 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.64|00.00|-00.85", + "object_info": { + "name": "Chair_dccc0183", + "position": { + "x": 1.6380003690719604, + "y": -0.0012546181678771973, + "z": -0.8479998111724854 + }, + "rotation": { + "x": 6.8910521804355085e-06, + "y": -1.4567513062502258e-05, + "z": -9.658315320848487e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.470670223236084, + "objectType": "Chair", + "objectId": "Chair|+01.64|00.00|-00.85", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.8325668573379517, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.8325668573379517, + -4.172325134277344e-07, + -1.080750584602356 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + 1.027160406112671, + -1.080750584602356 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -0.6165541410446167 + ], + [ + 1.4434345960617065, + -4.172325134277344e-07, + -1.080750584602356 + ] + ], + "center": { + "x": 1.638000726699829, + "y": 0.5135800242424011, + "z": -0.8486523628234863 + }, + "size": { + "x": 0.3891322612762451, + "y": 1.027160882949829, + "z": 0.46419644355773926 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.832566499710083, + -3.294553607702255e-08, + -0.6165531873703003 + ], + [ + 1.4434335231781006, + 3.4633558243513107e-07, + -0.6165534257888794 + ], + [ + 1.4434337615966797, + -9.243376553058624e-07, + -1.080749273300171 + ], + [ + 1.832566738128662, + -1.303618773818016e-06, + -1.0807490348815918 + ], + [ + 1.8325674533843994, + 1.0271635055541992, + -0.6165559887886047 + ], + [ + 1.443434476852417, + 1.0271639823913574, + -0.6165562868118286 + ], + [ + 1.4434348344802856, + 1.027162790298462, + -1.0807520151138306 + ], + [ + 1.832567811012268, + 1.0271623134613037, + -1.0807517766952515 + ] + ] + } + } + }, + { + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "object_info": { + "name": "DiningTable_8c5082b4", + "position": { + "x": 1.8840001821517944, + "y": 0.000865936279296875, + "z": -0.29199928045272827 + }, + "rotation": { + "x": 1.1634070688160136e-05, + "y": 5.109578341944143e-05, + "z": -5.819259058625903e-06 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Vase|+01.84|+00.78|-00.30", + "Vase|+01.57|+00.78|-00.31", + "Plate|+01.36|+00.78|-00.62" + ], + "distance": 2.564948558807373, + "objectType": "DiningTable", + "objectId": "DiningTable|+01.88|+00.00|-00.29", + "assetId": "Dining_Table_223_1", + "parentReceptacles": [ + "Chair|+02.22|00.00|+00.15", + "Chair|+02.29|00.00|-00.78", + "Chair|+01.46|00.00|+00.20", + "Chair|+01.64|00.00|-00.85", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.7696800231933594, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 2.7696800231933594, + -1.7881393432617188e-07, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + 0.7813823819160461, + -0.7920001745223999 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + 0.20800137519836426 + ], + [ + 0.9983203411102295, + -1.7881393432617188e-07, + -0.7920001745223999 + ] + ], + "center": { + "x": 1.8840001821517944, + "y": 0.3906911015510559, + "z": -0.2919993996620178 + }, + "size": { + "x": 1.7713596820831299, + "y": 0.7813825607299805, + "z": 1.0000015497207642 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.7696805000305176, + -1.031265128403902e-06, + 0.2080005705356598 + ], + [ + 0.9983201622962952, + -1.0089133866131306e-06, + 0.20800212025642395 + ], + [ + 0.9983193278312683, + -1.1145020835101604e-06, + -0.7919988632202148 + ], + [ + 2.7696797847747803, + -1.136853825300932e-06, + -0.792000412940979 + ], + [ + 2.7696805000305176, + 0.781382143497467, + 0.20800048112869263 + ], + [ + 0.9983202219009399, + 0.781382143497467, + 0.20800206065177917 + ], + [ + 0.9983193278312683, + 0.7813820242881775, + -0.7919989228248596 + ], + [ + 2.7696797847747803, + 0.7813820242881775, + -0.792000412940979 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.57|+00.78|-00.31", + "object_info": { + "name": "Vase_c907bd59", + "position": { + "x": 1.5650577545166016, + "y": 0.78141850233078, + "z": -0.3136565089225769 + }, + "rotation": { + "x": -7.507464033551514e-05, + "y": 0.004635137040168047, + "z": 0.00013605174899566919 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.0921623706817627, + "objectType": "Vase", + "objectId": "Vase|+01.57|+00.78|-00.31", + "assetId": "Vase_Flat_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.6405587196350098, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.6405587196350098, + 0.7813758850097656, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.8515527248382568, + -0.3889008164405823 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.23790884017944336 + ], + [ + 1.4895658493041992, + 0.7813758850097656, + -0.3889008164405823 + ] + ], + "center": { + "x": 1.5650622844696045, + "y": 0.8164643049240112, + "z": -0.3134048283100128 + }, + "size": { + "x": 0.15099287033081055, + "y": 0.07017683982849121, + "z": 0.15099197626113892 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.6405611038208008, + 0.781365692615509, + -0.2379171997308731 + ], + [ + 1.4895681142807007, + 0.7813897132873535, + -0.2379036545753479 + ], + [ + 1.489554524421692, + 0.7813984155654907, + -0.3888956606388092 + ], + [ + 1.640547513961792, + 0.7813743948936462, + -0.3889092206954956 + ], + [ + 1.640572190284729, + 0.8515346050262451, + -0.23791316151618958 + ], + [ + 1.489579200744629, + 0.8515586256980896, + -0.23789961636066437 + ], + [ + 1.4895657300949097, + 0.8515673279762268, + -0.38889163732528687 + ], + [ + 1.6405587196350098, + 0.8515433073043823, + -0.3889051675796509 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "object_info": { + "name": "GarbageCan_cf69fd43", + "position": { + "x": 0.29969024658203125, + "y": 7.18235969543457e-06, + "z": 1.2532256841659546 + }, + "rotation": { + "x": 0.0006593925645574927, + "y": 2.2150020599365234, + "z": -0.002282413886860013 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": [], + "distance": 1.7383514642715454, + "objectType": "GarbageCan", + "objectId": "GarbageCan|+00.30|+00.00|+01.25", + "assetId": "bin_23", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.4879261255264282, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.4879261255264282, + -5.066394805908203e-07, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + 0.6559668779373169, + 1.0650081634521484 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.4414482116699219 + ], + [ + 0.11147254705429077, + -5.066394805908203e-07, + 1.0650081634521484 + ] + ], + "center": { + "x": 0.2996993362903595, + "y": 0.32798317074775696, + "z": 1.2532281875610352 + }, + "size": { + "x": 0.37645357847213745, + "y": 0.6559673547744751, + "z": 0.37644004821777344 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.49219784140586853, + -3.6668598113465123e-07, + 1.4313961267471313 + ], + [ + 0.12151965498924255, + 9.915489499690011e-06, + 1.4457334280014038 + ], + [ + 0.10718235373497009, + 1.3122078598826192e-05, + 1.0750552415847778 + ], + [ + 0.47786054015159607, + 2.839903572748881e-06, + 1.0607179403305054 + ], + [ + 0.49221622943878174, + 0.6559540033340454, + 1.431401014328003 + ], + [ + 0.12153804302215576, + 0.6559642553329468, + 1.4457383155822754 + ], + [ + 0.1072007417678833, + 0.6559674739837646, + 1.0750601291656494 + ], + [ + 0.4778789281845093, + 0.6559572219848633, + 1.060722827911377 + ] + ] + } + } + }, + { + "objectId": "Chair|+01.46|00.00|+00.20", + "object_info": { + "name": "Chair_a5f4250e", + "position": { + "x": 1.4619998931884766, + "y": -0.001248180866241455, + "z": 0.19504165649414062 + }, + "rotation": { + "x": -0.0016520178178325295, + "y": 164.9993438720703, + "z": -0.0016378271393477917 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.168302297592163, + "objectType": "Chair", + "objectId": "Chair|+01.46|00.00|+00.20", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7098349332809448, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.7098349332809448, + -7.152557373046875e-07, + -0.0788719654083252 + ], + [ + 1.218284010887146, + 1.0271625518798828, + 0.4673005938529968 + ], + [ + 1.218284010887146, + 1.0271625518798828, + -0.0788719654083252 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + 0.4673005938529968 + ], + [ + 1.218284010887146, + -7.152557373046875e-07, + -0.0788719654083252 + ] + ], + "center": { + "x": 1.4640594720840454, + "y": 0.5135809183120728, + "z": 0.19421431422233582 + }, + "size": { + "x": 0.49155092239379883, + "y": 1.0271632671356201, + "z": 0.546172559261322 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3339667320251465, + 3.1586969271302223e-06, + -0.07887494564056396 + ], + [ + 1.709839105606079, + 5.927751772105694e-06, + 0.021841198205947876 + ], + [ + 1.5896950960159302, + 9.998911991715431e-07, + 0.4702184200286865 + ], + [ + 1.2138227224349976, + -1.7691636458039284e-06, + 0.3695022761821747 + ], + [ + 1.3339568376541138, + 1.0271642208099365, + -0.07886630296707153 + ], + [ + 1.7098292112350464, + 1.0271670818328857, + 0.021849840879440308 + ], + [ + 1.5896852016448975, + 1.0271620750427246, + 0.47022706270217896 + ], + [ + 1.2138128280639648, + 1.0271592140197754, + 0.3695109188556671 + ] + ] + } + } + }, + { + "objectId": "Plate|+01.36|+00.78|-00.62", + "object_info": { + "name": "Plate_1c90ccc9", + "position": { + "x": 1.3599973917007446, + "y": 0.7819615006446838, + "z": -0.6242143511772156 + }, + "rotation": { + "x": 2.8258966267458163e-05, + "y": 0.0006830089259892702, + "z": 3.128212847514078e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 1.9655543565750122, + "objectType": "Plate", + "objectId": "Plate|+01.36|+00.78|-00.62", + "assetId": "Plate_23", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.4711759090423584, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.4711759090423584, + 0.78138267993927, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.7981560230255127, + -0.7361249923706055 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.5147268772125244 + ], + [ + 1.2498562335968018, + 0.78138267993927, + -0.7361249923706055 + ] + ], + "center": { + "x": 1.36051607131958, + "y": 0.7897693514823914, + "z": -0.6254259347915649 + }, + "size": { + "x": 0.22131967544555664, + "y": 0.016773343086242676, + "z": 0.22139811515808105 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4711781740188599, + 0.7813824415206909, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7813829779624939, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7813829779624939, + -0.736128032207489 + ], + [ + 1.4711782932281494, + 0.7813825011253357, + -0.7361278533935547 + ], + [ + 1.4711782932281494, + 0.7981557846069336, + -0.5147253274917603 + ], + [ + 1.249853491783142, + 0.7981562614440918, + -0.5147255063056946 + ], + [ + 1.2498536109924316, + 0.7981562614440918, + -0.736128032207489 + ], + [ + 1.471178412437439, + 0.7981557846069336, + -0.7361278533935547 + ] + ] + } + } + }, + { + "objectId": "Chair|+02.22|00.00|+00.15", + "object_info": { + "name": "Chair_7a50a561", + "position": { + "x": 2.2239997386932373, + "y": -0.0012543797492980957, + "z": 0.1499933898448944 + }, + "rotation": { + "x": 1.664768888076651e-06, + "y": 186.64883422851562, + "z": -2.865982605726458e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "distance": 2.873453378677368, + "objectType": "Chair", + "objectId": "Chair|+02.22|00.00|+00.15", + "assetId": "Chair_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.4422075748443604, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.4422075748443604, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.4422075748443604, + -1.1920928955078125e-07, + -0.10242298245429993 + ], + [ + 2.003944158554077, + 1.0271613597869873, + 0.402398020029068 + ], + [ + 2.003944158554077, + 1.0271613597869873, + -0.10242298245429993 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + 0.402398020029068 + ], + [ + 2.003944158554077, + -1.1920928955078125e-07, + -0.10242298245429993 + ] + ], + "center": { + "x": 2.2230758666992188, + "y": 0.5135806202888489, + "z": 0.14998751878738403 + }, + "size": { + "x": 0.4382634162902832, + "y": 1.0271614789962769, + "z": 0.5048210024833679 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.003944158554077, + 8.723000064492226e-07, + -0.05736972391605377 + ], + [ + 2.3904600143432617, + 1.287669874727726e-06, + -0.10242469608783722 + ], + [ + 2.4442059993743896, + -4.156026989221573e-08, + 0.3586488962173462 + ], + [ + 2.057690143585205, + -4.5693013817071915e-07, + 0.40370386838912964 + ], + [ + 2.00394344329834, + 1.0271613597869873, + -0.05736668407917023 + ], + [ + 2.3904592990875244, + 1.0271618366241455, + -0.10242165625095367 + ], + [ + 2.4442052841186523, + 1.027160406112671, + 0.35865193605422974 + ], + [ + 2.0576894283294678, + 1.0271599292755127, + 0.4037069082260132 + ] + ] + } + } + }, + { + "objectId": "Sofa|-03.42|+00.01|-00.04", + "object_info": { + "name": "Sofa_a8daadf4", + "position": { + "x": -3.419853448867798, + "y": 0.009423255920410156, + "z": -0.04300214722752571 + }, + "rotation": { + "x": 0.48917052149772644, + "y": 89.9996109008789, + "z": -0.000723252713214606 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 103.99999237060547, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 3.0532443523406982, + "objectType": "Sofa", + "objectId": "Sofa|-03.42|+00.01|-00.04", + "assetId": "Sofa_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -2.936828136444092, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -2.936828136444092, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -2.936828136444092, + -1.0371208190917969e-05, + -1.3180052042007446 + ], + [ + -3.899984836578369, + 1.2930635213851929, + 1.2320033311843872 + ], + [ + -3.899984836578369, + 1.2930635213851929, + -1.3180052042007446 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + 1.2320033311843872 + ], + [ + -3.899984836578369, + -1.0371208190917969e-05, + -1.3180052042007446 + ] + ], + "center": { + "x": -3.4184064865112305, + "y": 0.646526575088501, + "z": -0.04300093650817871 + }, + "size": { + "x": 0.9631567001342773, + "y": 1.2930738925933838, + "z": 2.550008535385132 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.9419758319854736, + -0.0004383400082588196, + -1.3180041313171387 + ], + [ + -2.9419970512390137, + -0.00043316371738910675, + 1.2320106029510498 + ], + [ + -3.910738468170166, + 0.007864156737923622, + 1.23200261592865 + ], + [ + -3.910717248916626, + 0.00785898044705391, + -1.3180121183395386 + ], + [ + -2.9309487342834473, + 1.2870051860809326, + -1.3180066347122192 + ], + [ + -2.9309699535369873, + 1.2870104312896729, + 1.2320080995559692 + ], + [ + -3.8997113704681396, + 1.2953077554702759, + 1.2320001125335693 + ], + [ + -3.8996901512145996, + 1.2953025102615356, + -1.3180146217346191 + ] + ] + } + } + }, + { + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "object_info": { + "name": "ArmChair_dcc087dc", + "position": { + "x": -2.0049989223480225, + "y": 0.005729347467422485, + "z": -1.5789660215377808 + }, + "rotation": { + "x": 2.7415435397415422e-05, + "y": -0.00028303347062319517, + "z": -5.4362270020646974e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 28.299999237060547, + "salientMaterials": [ + "Leather", + "Metal" + ], + "receptacleObjectIds": [ + "Pillow|-01.93|+00.37|-01.49" + ], + "distance": 2.357893943786621, + "objectType": "ArmChair", + "objectId": "ArmChair|-02.01|+00.01|-01.58", + "assetId": "Armchair_207_3", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.6231164932250977, + 0.7252027988433838, + -1.20068359375 + ], + [ + -1.6231164932250977, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -1.6231164932250977, + 3.516674041748047e-06, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.20068359375 + ], + [ + -2.3798818588256836, + 0.7252027988433838, + -1.9687409400939941 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.20068359375 + ], + [ + -2.3798818588256836, + 3.516674041748047e-06, + -1.9687409400939941 + ] + ], + "center": { + "x": -2.0014991760253906, + "y": 0.36260315775871277, + "z": -1.584712266921997 + }, + "size": { + "x": 0.7567653656005859, + "y": 0.725199282169342, + "z": 0.7680573463439941 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.6231142282485962, + 1.253793016076088e-05, + -1.2006384134292603 + ], + [ + -2.3798868656158447, + 1.2211967259645462e-05, + -1.2006421089172363 + ], + [ + -2.379883050918579, + 1.2442469596862793e-05, + -1.968709111213684 + ], + [ + -1.6231105327606201, + 1.276843249797821e-05, + -1.968705415725708 + ], + [ + -1.6231144666671753, + 0.725220799446106, + -1.2006382942199707 + ], + [ + -2.379887104034424, + 0.7252204418182373, + -1.2006418704986572 + ], + [ + -2.3798835277557373, + 0.7252206802368164, + -1.968708872795105 + ], + [ + -1.6231107711791992, + 0.7252210378646851, + -1.968705177307129 + ] + ] + } + } + }, + { + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "object_info": { + "name": "CoffeeTable_019812e2", + "position": { + "x": -2.022998809814453, + "y": 0.005585998296737671, + "z": 0.018002614378929138 + }, + "rotation": { + "x": 0.00034010448143817484, + "y": 270.00006103515625, + "z": -0.00021804105199407786 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "KeyChain|-02.22|+00.44|-00.34", + "Laptop|-02.02|+00.45|-00.12", + "CreditCard|-01.83|+00.44|+00.28" + ], + "distance": 1.7668089866638184, + "objectType": "CoffeeTable", + "objectId": "CoffeeTable|-02.02|+00.01|+00.02", + "assetId": "Coffee_Table_202_2", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.695284366607666, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -1.695284366607666, + 1.7285346984863281e-06, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 0.44342494010925293, + -0.4894556999206543 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + 0.5242013931274414 + ], + [ + -2.3507137298583984, + 1.7285346984863281e-06, + -0.4894556999206543 + ] + ], + "center": { + "x": -2.0229990482330322, + "y": 0.2217133343219757, + "z": 0.017372846603393555 + }, + "size": { + "x": 0.6554293632507324, + "y": 0.44342321157455444, + "z": 1.0136570930480957 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -2.3507120609283447, + 1.0440126061439514e-06, + 0.5242016315460205 + ], + [ + -2.3507139682769775, + 2.2496096789836884e-06, + -0.48945558071136475 + ], + [ + -1.695285677909851, + 2.116430550813675e-06, + -0.4894568920135498 + ], + [ + -1.6952837705612183, + 9.10833477973938e-07, + 0.5242003202438354 + ], + [ + -2.3507118225097656, + 0.4434235394001007, + 0.5242021083831787 + ], + [ + -2.3507137298583984, + 0.4434247314929962, + -0.48945510387420654 + ], + [ + -1.6952855587005615, + 0.44342461228370667, + -0.4894564151763916 + ], + [ + -1.6952836513519287, + 0.44342342019081116, + 0.5242008566856384 + ] + ] + } + } + }, + { + "objectId": "Pillow|-01.93|+00.37|-01.49", + "object_info": { + "name": "Pillow_caec4930", + "position": { + "x": -1.925331950187683, + "y": 0.37403395771980286, + "z": -1.4881412982940674 + }, + "rotation": { + "x": 3.339060640428215e-05, + "y": 358.86907958984375, + "z": 0.00032471693702973425 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.12692928314209, + "objectType": "Pillow", + "objectId": "Pillow|-01.93|+00.37|-01.49", + "assetId": "pillow_23", + "parentReceptacles": [ + "ArmChair|-02.01|+00.01|-01.58", + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.744187355041504, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -1.744187355041504, + 0.32094714045524597, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.4271208345890045, + -1.6619739532470703 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.3140015602111816 + ], + [ + -2.090938091278076, + 0.32094714045524597, + -1.6619739532470703 + ] + ], + "center": { + "x": -1.91756272315979, + "y": 0.37403398752212524, + "z": -1.487987756729126 + }, + "size": { + "x": 0.34675073623657227, + "y": 0.10617369413375854, + "z": 0.34797239303588867 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.7509242296218872, + 0.3209517002105713, + -1.3140016794204712 + ], + [ + -2.0909371376037598, + 0.32094883918762207, + -1.3207141160964966 + ], + [ + -2.084200143814087, + 0.32094714045524597, + -1.6619735956192017 + ], + [ + -1.7441871166229248, + 0.3209500014781952, + -1.6552611589431763 + ], + [ + -1.750925064086914, + 0.4271208643913269, + -1.314002275466919 + ], + [ + -2.090938091278076, + 0.4271179735660553, + -1.3207147121429443 + ], + [ + -2.084200859069824, + 0.4271162748336792, + -1.6619741916656494 + ], + [ + -1.7441880702972412, + 0.4271191656589508, + -1.6552616357803345 + ] + ] + } + } + }, + { + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "object_info": { + "name": "HousePlant_c2d1ad55", + "position": { + "x": -3.5799825191497803, + "y": 0.6049525141716003, + "z": -1.616989016532898 + }, + "rotation": { + "x": 0.0034576542675495148, + "y": 0.02852385677397251, + "z": 359.7084045410156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.0, + "salientMaterials": [ + "Ceramic", + "Organic" + ], + "receptacleObjectIds": null, + "distance": 3.491215944290161, + "objectType": "HousePlant", + "objectId": "HousePlant|-03.58|+00.60|-01.62", + "assetId": "Houseplant_23", + "parentReceptacles": [ + "SideTable|-03.60|+00.00|-01.61" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.449705123901367, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.449705123901367, + 0.6027787923812866, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 1.2611639499664307, + -1.7371954917907715 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.4410996437072754 + ], + [ + -3.7817044258117676, + 0.6027787923812866, + -1.7371954917907715 + ] + ], + "center": { + "x": -3.6157047748565674, + "y": 0.9319713711738586, + "z": -1.5891475677490234 + }, + "size": { + "x": 0.3319993019104004, + "y": 0.658385157585144, + "z": 0.2960958480834961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.4522058963775635, + 0.6024874448776245, + -1.4412527084350586 + ], + [ + -3.7839014530181885, + 0.6041755080223083, + -1.4410874843597412 + ], + [ + -3.7840490341186523, + 0.604193389415741, + -1.7371875047683716 + ], + [ + -3.4523532390594482, + 0.6025053262710571, + -1.737352728843689 + ], + [ + -3.4488577842712402, + 1.2603834867477417, + -1.441214680671692 + ], + [ + -3.7805533409118652, + 1.2620716094970703, + -1.4410494565963745 + ], + [ + -3.78070068359375, + 1.262089490890503, + -1.7371494770050049 + ], + [ + -3.449005126953125, + 1.2604013681411743, + -1.7373147010803223 + ] + ] + } + } + }, + { + "objectId": "Vase|+01.84|+00.78|-00.30", + "object_info": { + "name": "Vase_9fb9130e", + "position": { + "x": 1.8407025337219238, + "y": 0.7822806239128113, + "z": -0.29858171939849854 + }, + "rotation": { + "x": 359.9902648925781, + "y": -0.0010339911095798016, + "z": 359.99078369140625 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": null, + "distance": 2.362653970718384, + "objectType": "Vase", + "objectId": "Vase|+01.84|+00.78|-00.30", + "assetId": "Vase_Tall_3", + "parentReceptacles": [ + "DiningTable|+01.88|+00.00|-00.29" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.9282763004302979, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.9282763004302979, + 0.7813824415206909, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 1.0760713815689087, + -0.38590872287750244 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.2112666368484497 + ], + [ + 1.7531378269195557, + 0.7813824415206909, + -0.38590872287750244 + ] + ], + "center": { + "x": 1.8407070636749268, + "y": 0.9287269115447998, + "z": -0.2985876798629761 + }, + "size": { + "x": 0.1751384735107422, + "y": 0.2946889400482178, + "z": 0.17464208602905273 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.9282679557800293, + 0.7813861966133118, + -0.21125024557113647 + ], + [ + 1.7531265020370483, + 0.7813979387283325, + -0.21125870943069458 + ], + [ + 1.7531349658966064, + 0.7813853025436401, + -0.3859027028083801 + ], + [ + 1.9282764196395874, + 0.7813735604286194, + -0.385894238948822 + ], + [ + 1.9282876253128052, + 1.0760780572891235, + -0.21127155423164368 + ], + [ + 1.7531462907791138, + 1.076089859008789, + -0.21128001809120178 + ], + [ + 1.7531546354293823, + 1.0760772228240967, + -0.38592401146888733 + ], + [ + 1.9282960891723633, + 1.0760654211044312, + -0.3859155476093292 + ] + ] + } + } + }, + { + "objectId": "Laptop|-02.02|+00.45|-00.12", + "object_info": { + "name": "Laptop_80dcebae", + "position": { + "x": -2.015547752380371, + "y": 0.4474354684352875, + "z": -0.11577396094799042 + }, + "rotation": { + "x": -0.0025015692226588726, + "y": 328.9265441894531, + "z": -0.0004556406638585031 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.5861930847167969, + "objectType": "Laptop", + "objectId": "Laptop|-02.02|+00.45|-00.12", + "assetId": "Laptop_23", + "parentReceptacles": [ + "CoffeeTable|-02.02|+00.01|+00.02" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.778167724609375, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -1.778167724609375, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -1.778167724609375, + 0.4434225559234619, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.7716655731201172, + -0.348832368850708 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + 0.1093357503414154 + ], + [ + -2.2456789016723633, + 0.4434225559234619, + -0.348832368850708 + ] + ], + "center": { + "x": -2.011923313140869, + "y": 0.6075440645217896, + "z": -0.1197483092546463 + }, + "size": { + "x": 0.4675111770629883, + "y": 0.3282430171966553, + "z": 0.4581681191921234 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -1.9451278448104858, + 0.4434371888637543, + 0.11167803406715393 + ], + [ + -2.249565362930298, + 0.4434402287006378, + -0.07178422063589096 + ], + [ + -2.0815627574920654, + 0.4434255361557007, + -0.3505682945251465 + ], + [ + -1.7771250009536743, + 0.44342249631881714, + -0.167106032371521 + ], + [ + -1.945117712020874, + 0.771675705909729, + 0.11166679859161377 + ], + [ + -2.2495553493499756, + 0.7716786861419678, + -0.07179546356201172 + ], + [ + -2.081552505493164, + 0.771664023399353, + -0.35057955980300903 + ], + [ + -1.777114987373352, + 0.7716609835624695, + -0.16711726784706116 + ] + ] + } + } + }, + { + "objectId": "SideTable|-03.60|+00.00|-01.61", + "object_info": { + "name": "SideTable_32f926b8", + "position": { + "x": -3.597963809967041, + "y": 0.004360944032669067, + "z": -1.6070078611373901 + }, + "rotation": { + "x": 0.003428330644965172, + "y": 0.002825607778504491, + "z": 359.70733642578125 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "HousePlant|-03.58|+00.60|-01.62" + ], + "distance": 3.6033060550689697, + "objectType": "SideTable", + "objectId": "SideTable|-03.60|+00.00|-01.61", + "assetId": "Side_Table_223_1", + "parentReceptacles": [ + "Floor|+00.00|+00.00|+00.00" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -3.425083637237549, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.425083637237549, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.425083637237549, + 2.384185791015625e-07, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 0.6039296388626099, + -1.7844332456588745 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.434484601020813 + ], + [ + -3.7657041549682617, + 2.384185791015625e-07, + -1.7844332456588745 + ] + ], + "center": { + "x": -3.5953938961029053, + "y": 0.3019649386405945, + "z": -1.6094589233398438 + }, + "size": { + "x": 0.3406205177307129, + "y": 0.6039294004440308, + "z": 0.3499486446380615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + -3.425757646560669, + -0.0015295855700969696, + -1.434476375579834 + ], + [ + -3.7657032012939453, + 0.0001298254355788231, + -1.4344571828842163 + ], + [ + -3.76572322845459, + 6.832834333181381e-05, + -1.7844345569610596 + ], + [ + -3.4257779121398926, + -0.0015910826623439789, + -1.7844538688659668 + ], + [ + -3.4228098392486572, + 0.6023802757263184, + -1.4345827102661133 + ], + [ + -3.7627553939819336, + 0.6040396690368652, + -1.4345635175704956 + ], + [ + -3.762775421142578, + 0.603978157043457, + -1.7845408916473389 + ], + [ + -3.4228298664093018, + 0.6023187637329102, + -1.7845600843429565 + ] + ] + } + } + }, + { + "objectId": "Window|-02.00|+01.51|-01.93", + "object_info": { + "name": "Window_ee24ba76", + "position": { + "x": -2.003999948501587, + "y": 1.5069999694824219, + "z": -1.9270000457763672 + }, + "rotation": { + "x": 90.0, + "y": 6.27857371000573e-05, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.5184483528137207, + "objectType": "Window", + "objectId": "Window|-02.00|+01.51|-01.93", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + -1.5399994850158691, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -1.5399994850158691, + -9.5367431640625e-07, + -2.0400002002716064 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -1.9587955474853516 + ], + [ + -2.460000514984131, + 2.1500020027160645, + -2.0400002002716064 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -1.9587955474853516 + ], + [ + -2.460000514984131, + -9.5367431640625e-07, + -2.0400002002716064 + ] + ], + "center": { + "x": -2.0, + "y": 1.075000524520874, + "z": -1.999397873878479 + }, + "size": { + "x": 0.9200010299682617, + "y": 2.150002956390381, + "z": 0.08120465278625488 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 3.8000001907348633, + "y": 0.9009991884231567, + "z": 0.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 287.0, + "z": 0.0 + }, + "agent_cameraHorizon": 0.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 3.8000001907348633, + "y": 1.5759992599487305, + "z": 0.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Sofa|-03.42|+00.01|-00.04", + "Chair|+01.64|00.00|-00.85", + "Plate|+01.36|+00.78|-00.62", + "ArmChair|-02.01|+00.01|-01.58", + "Pillow|-01.93|+00.37|-01.49", + "Laptop|-02.02|+00.45|-00.12", + "CoffeeTable|-02.02|+00.01|+00.02", + "HousePlant|-03.58|+00.60|-01.62", + "DiningTable|+01.88|+00.00|-00.29", + "Window|-02.00|+01.51|-01.93" + ], + "different_object": [ + "WateringCan|-03.25|00.00|-01.86", + "Chair|+02.22|00.00|+00.15", + "Vase|+01.57|+00.78|-00.31", + "GarbageCan|+00.30|+00.00|+01.25", + "Vase|+01.84|+00.78|-00.30", + "SideTable|-03.60|+00.00|-01.61", + "Chair|+01.46|00.00|+00.20" + ] +} \ No newline at end of file diff --git a/train/FloorPlan223_physics/9/1_depth_npy.npy b/train/FloorPlan223_physics/9/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8509a6450ab0d00f682ab3148bf47c4daf8b8dd6 --- /dev/null +++ b/train/FloorPlan223_physics/9/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d6dd1d053f4afbfc060c1c2688d05da2274d5be5b2bb20e0f09bb0f62a3bb1d +size 3145856 diff --git a/train/FloorPlan223_physics/9/1_semantic_sensor_npy.npy b/train/FloorPlan223_physics/9/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9eeb4dd0fb6e9a903d1c1d1510d38f077a4494a4 --- /dev/null +++ b/train/FloorPlan223_physics/9/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69fcb0678b83fb9a387a51c0ae5f8032500204712ab3483bd07f116f3987685b +size 2359424 diff --git a/train/FloorPlan223_physics/9/depth_0.png b/train/FloorPlan223_physics/9/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..128f4f1a4f04d920098736678cb4d573de568718 Binary files /dev/null and b/train/FloorPlan223_physics/9/depth_0.png differ diff --git a/train/FloorPlan223_physics/9/depth_1.png b/train/FloorPlan223_physics/9/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..3de0ff0dd637c0396bead955a03bca824897400a Binary files /dev/null and b/train/FloorPlan223_physics/9/depth_1.png differ diff --git a/train/FloorPlan223_physics/9/mask_questions.jsonl b/train/FloorPlan223_physics/9/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9eb6b6360b2fcce9fb87a6b97e82958ae7cc893f --- /dev/null +++ b/train/FloorPlan223_physics/9/mask_questions.jsonl @@ -0,0 +1,3 @@ +{"id": 20311, "folder_dir": "FloorPlan223_physics/9", "pair_name": "0-1:Chair|+01.64|00.00|-00.85", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Sofa\nB. Chair\nC. Box\nD. Window", "answer": "B", "object_name": "Chair", "image_1": "FloorPlan223_physics/9/rgb_0.png", "image_2": "FloorPlan223_physics/9/rgb_1.png", "mask_image": "FloorPlan223_physics/9/rgb_1_mask_Chair|+01.64|00.00|-00.85.png", "options": ["Sofa", "Chair", "Box", "Window"]} +{"id": 20312, "folder_dir": "FloorPlan223_physics/9", "pair_name": "0-1:Window|-02.00|+01.51|-01.93", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Window\nB. Chair\nC. Sofa\nD. Box", "answer": "A", "object_name": "Window", "image_1": "FloorPlan223_physics/9/rgb_0.png", "image_2": "FloorPlan223_physics/9/rgb_1.png", "mask_image": "FloorPlan223_physics/9/rgb_1_mask_Window|-02.00|+01.51|-01.93.png", "options": ["Window", "Chair", "Sofa", "Box"]} +{"id": 20313, "folder_dir": "FloorPlan223_physics/9", "pair_name": "1-0:Window|-02.00|+01.51|-01.93", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Vase\nB. Sofa\nC. Window\nD. Vase", "answer": "C", "object_name": "Window", "image_1": "FloorPlan223_physics/9/rgb_1.png", "image_2": "FloorPlan223_physics/9/rgb_0.png", "mask_image": "FloorPlan223_physics/9/rgb_0_mask_Window|-02.00|+01.51|-01.93.png", "options": ["Vase", "Sofa", "Window", "Vase"]} diff --git a/train/FloorPlan223_physics/9/questions_distance.jsonl b/train/FloorPlan223_physics/9/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..837dec8e4fa57752bd0a01986cfabe33088c245b --- /dev/null +++ b/train/FloorPlan223_physics/9/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 6003, "folder_dir": "FloorPlan223_physics/9", "query": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Laptop\nB. CoffeeTable\nC. HousePlant\nD. Other\n", "answer": "A", "src_object": "Sofa", "target_object": "Laptop", "question": "Which of the following objects is closest to Sofa in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Laptop", "semantic_id": "Laptop|-02.02|+00.45|-00.12", "distance": 1.4091148683934644, "com": {"x": -2.011923313140869, "y": 0.6075440645217896, "z": -0.1197483092546463}}, {"text": "CoffeeTable", "semantic_id": "CoffeeTable|-02.02|+00.01|+00.02", "distance": 1.4598880785936588, "com": {"x": -2.0229990482330322, "y": 0.2217133343219757, "z": 0.017372846603393555}}, {"text": "HousePlant", "semantic_id": "HousePlant|-03.58|+00.60|-01.62", "distance": 1.5846055507581764, "com": {"x": -3.6157047748565674, "y": 0.9319713711738586, "z": -1.5891475677490234}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/9/rgb_0.png", "image_2": "FloorPlan223_physics/9/rgb_1.png"} +{"id": 6004, "folder_dir": "FloorPlan223_physics/9", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. GarbageCan\nB. Plate\nC. Box\nD. Other\n", "answer": "C", "src_object": "DiningTable", "target_object": "Box", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "GarbageCan", "semantic_id": "GarbageCan|+00.30|+00.00|+01.25", "distance": 2.2139714883209467, "com": {"x": 0.2996993362903595, "y": 0.32798317074775696, "z": 1.2532281875610352}}, {"text": "Plate", "semantic_id": "Plate|+01.36|+00.78|-00.62", "distance": 0.7378836752432911, "com": {"x": 1.36051607131958, "y": 0.7897693514823914, "z": -0.6254259347915649}}, {"text": "Box", "semantic_id": "Box|+01.27|+00.15|-00.29", "distance": 0.6851397287211983, "com": {"x": 1.2528727054595947, "y": 0.13431625068187714, "z": -0.365255743265152}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "FloorPlan223_physics/9/rgb_0.png", "image_2": "FloorPlan223_physics/9/rgb_1.png"} diff --git a/train/FloorPlan223_physics/9/rgb_0.png b/train/FloorPlan223_physics/9/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..5baf31d095a16078e20a5b4b7931d1b7c7b7d6b7 --- /dev/null +++ b/train/FloorPlan223_physics/9/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3618102500e872e5be57853912f1a47a81645c9b20e4010898633cdf2df0f709 +size 817176 diff --git a/train/FloorPlan223_physics/9/rgb_0_mask_Window|-02.00|+01.51|-01.93.png b/train/FloorPlan223_physics/9/rgb_0_mask_Window|-02.00|+01.51|-01.93.png new file mode 100644 index 0000000000000000000000000000000000000000..00d4c34ffabdb25ef5e52abab55cc50f8196856f --- /dev/null +++ b/train/FloorPlan223_physics/9/rgb_0_mask_Window|-02.00|+01.51|-01.93.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5cfdab1c071ae196e0fc54459b559423f8ef534fdcf0bacd22e5f9cf47eb1f4 +size 713000 diff --git a/train/FloorPlan223_physics/9/rgb_1.png b/train/FloorPlan223_physics/9/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..9e3e123233f79bec08a168fb3d52094defc24065 --- /dev/null +++ b/train/FloorPlan223_physics/9/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fb90866ef5833795153538488b52339a64289b22c4443d97c568e20bce0d6ad +size 746655 diff --git a/train/FloorPlan223_physics/9/rgb_1_mask_Chair|+01.64|00.00|-00.85.png b/train/FloorPlan223_physics/9/rgb_1_mask_Chair|+01.64|00.00|-00.85.png new file mode 100644 index 0000000000000000000000000000000000000000..1e01adf73871e7d130a1ceb4854349844ef0bfef --- /dev/null +++ b/train/FloorPlan223_physics/9/rgb_1_mask_Chair|+01.64|00.00|-00.85.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f76ae7de84ecef920c08a64c408b680e6d53458ab44591bd708387ccd220bf4 +size 651403 diff --git a/train/FloorPlan223_physics/9/rgb_1_mask_Window|-02.00|+01.51|-01.93.png b/train/FloorPlan223_physics/9/rgb_1_mask_Window|-02.00|+01.51|-01.93.png new file mode 100644 index 0000000000000000000000000000000000000000..a093fe653d9a78434a882ba765cd1fe16ccbf49f --- /dev/null +++ b/train/FloorPlan223_physics/9/rgb_1_mask_Window|-02.00|+01.51|-01.93.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4b694898684f684e97cf62f15f948dab980e5a83922984f809c60825af5dd3b +size 653587 diff --git a/train/FloorPlan223_physics/9/semantic_0.png b/train/FloorPlan223_physics/9/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b1d8860dcd1eef9969d049a525a181cdc86a2fbc Binary files /dev/null and b/train/FloorPlan223_physics/9/semantic_0.png differ diff --git a/train/FloorPlan223_physics/9/semantic_1.png b/train/FloorPlan223_physics/9/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..34fb1574278dfa6d8c6fc492c615585f346f8ba4 Binary files /dev/null and b/train/FloorPlan223_physics/9/semantic_1.png differ diff --git a/train/FloorPlan223_physics/color_to_object_id.json b/train/FloorPlan223_physics/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..ce4bb6eef2801014a949768c9fecee3ecb7e50a0 --- /dev/null +++ b/train/FloorPlan223_physics/color_to_object_id.json @@ -0,0 +1,982 @@ +[ + { + "Window|+03.48|+01.51|-01.93": [ + 130, + 58, + 75 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "Window|-02.00|+01.51|-01.93": [ + 254, + 69, + 33 + ] + }, + { + "Window|+01.48|+01.51|-01.93": [ + 130, + 254, + 230 + ] + }, + { + "Wall|4.25|0|-2.05": [ + 185, + 1, + 173 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "FP223:StandardDoorFrame1 1|-3.95|0|2.32": [ + 84, + 35, + 211 + ] + }, + { + "Door": [ + 244, + 78, + 20 + ] + }, + { + "FP223:StandardDoorFrame1 |3.5|0|1.5": [ + 111, + 117, + 131 + ] + }, + { + "FP223:StandardDoorFrame1|2.5|0|-2.05": [ + 1, + 75, + 72 + ] + }, + { + "FP223:StandardKnob1 1|-3.95|0|2.32": [ + 21, + 218, + 221 + ] + }, + { + "FP223:StandardDoor1 1|-3.95|0|2.32": [ + 26, + 80, + 152 + ] + }, + { + "FP223:StandardKnob1 |3.5|0|1.5": [ + 86, + 206, + 183 + ] + }, + { + "FP223:StandardDoor1 |3.9211|1|1.5": [ + 128, + 164, + 39 + ] + }, + { + "FP223:StandardKnob1|2.5|0|-2.05": [ + 186, + 103, + 89 + ] + }, + { + "FP223:StandardDoor1|2.925|1|-2.05": [ + 146, + 80, + 130 + ] + }, + { + "FP223:LightFixture1 8|-3.339|2.5|-0.6931616": [ + 55, + 218, + 209 + ] + }, + { + "CeilingLight": [ + 230, + 113, + 120 + ] + }, + { + "FP223:LightFixture1 7|-2.139|2.5|-0.6931616": [ + 194, + 250, + 130 + ] + }, + { + "FP223:LightFixture1 6|0.829|2.5|-0.6931616": [ + 215, + 5, + 202 + ] + }, + { + "FP223:LightFixture1 5|2.993|2.5|-0.6931616": [ + 55, + 52, + 1 + ] + }, + { + "FP223:LightFixture1 4|2.993|2.5|0.6619999": [ + 139, + 141, + 252 + ] + }, + { + "FP223:LightFixture1 3|0.829|2.5|0.6619999": [ + 2, + 216, + 97 + ] + }, + { + "FP223:LightFixture1 2|-2.139|2.5|2.124": [ + 68, + 246, + 86 + ] + }, + { + "FP223:LightFixture1 1|-0.9982502|2.5|2.124": [ + 167, + 92, + 153 + ] + }, + { + "FP223:LightFixture1 |-3.339|2.5|2.124": [ + 164, + 236, + 2 + ] + }, + { + "FP223:LightFixture1|-0.9982502|2.5|-0.6931616": [ + 136, + 42, + 152 + ] + }, + { + "Floor|+00.00|+00.00|+00.00": [ + 88, + 131, + 103 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "Ceiling|0|2.7|0": [ + 108, + 144, + 200 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Painting|+04.14|+01.59|-00.30": [ + 255, + 33, + 78 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|-00.06|+01.60|+01.73": [ + 236, + 218, + 69 + ] + }, + { + "LightSwitch|-03.90|+01.28|+01.68": [ + 133, + 167, + 177 + ] + }, + { + "LightSwitch": [ + 11, + 51, + 121 + ] + }, + { + "RemoteControl|-02.29|+00.71|+02.75": [ + 93, + 238, + 251 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "TheHand": [ + 13, + 71, + 35 + ] + }, + { + "Laptop|-02.02|+00.45|-00.12": [ + 235, + 202, + 200 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "Candle|-01.54|+00.23|+02.74": [ + 75, + 30, + 43 + ] + }, + { + "Candle": [ + 233, + 102, + 178 + ] + }, + { + "Plate|+01.36|+00.78|-00.62": [ + 99, + 112, + 136 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "WateringCan|-03.25|00.00|-01.86": [ + 23, + 35, + 95 + ] + }, + { + "WateringCan": [ + 147, + 67, + 249 + ] + }, + { + "FloorLamp|-00.33|+00.00|+02.73": [ + 53, + 80, + 72 + ] + }, + { + "FloorLamp": [ + 253, + 73, + 35 + ] + }, + { + "Television|-01.86|+01.20|+02.70": [ + 245, + 4, + 21 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "HousePlant|-03.58|+00.60|-01.62": [ + 211, + 183, + 232 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "GarbageCan|+00.30|+00.00|+01.25": [ + 75, + 175, + 56 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "Vase|+01.57|+00.78|-00.31": [ + 41, + 102, + 96 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "CreditCard|-01.83|+00.44|+00.28": [ + 227, + 39, + 212 + ] + }, + { + "CreditCard": [ + 56, + 235, + 12 + ] + }, + { + "Pillow|-01.93|+00.37|-01.49": [ + 193, + 61, + 216 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Vase|+01.84|+00.78|-00.30": [ + 233, + 49, + 210 + ] + }, + { + "KeyChain|-02.22|+00.44|-00.34": [ + 176, + 111, + 56 + ] + }, + { + "KeyChain": [ + 27, + 54, + 18 + ] + }, + { + "agent_neck_1": [ + 136, + 241, + 42 + ] + }, + { + "agent_body_1 (shadows)": [ + 121, + 190, + 102 + ] + }, + { + "ArmChair|-00.44|+00.01|+01.92": [ + 208, + 132, + 221 + ] + }, + { + "ArmChair": [ + 96, + 52, + 68 + ] + }, + { + "ArmChair|-00.43|+00.01|+01.06": [ + 181, + 248, + 175 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 97, + 200, + 36 + ] + }, + { + "agent_head_1 (shadows)": [ + 208, + 18, + 150 + ] + }, + { + "stretch_robot_base_code": [ + 88, + 64, + 167 + ] + }, + { + "ArmChair|-02.01|+00.01|-01.58": [ + 175, + 82, + 52 + ] + }, + { + "agent_head_1": [ + 155, + 195, + 182 + ] + }, + { + "stretch_robot_laser": [ + 9, + 153, + 67 + ] + }, + { + "Sofa|-03.42|+00.01|-00.04": [ + 145, + 217, + 16 + ] + }, + { + "Sofa": [ + 82, + 143, + 39 + ] + }, + { + "stretch_robot_mast": [ + 253, + 66, + 88 + ] + }, + { + "stretch_robot_head_1": [ + 191, + 138, + 32 + ] + }, + { + "TVStand|-01.86|+00.00|+02.79": [ + 211, + 226, + 183 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "Statue|-02.04|+00.24|+02.75": [ + 27, + 132, + 47 + ] + }, + { + "Statue": [ + 243, + 75, + 41 + ] + }, + { + "agent_neck_3": [ + 134, + 245, + 221 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 156, + 36, + 200 + ] + }, + { + "agent_head_2 (shadows)": [ + 68, + 179, + 239 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 115, + 68, + 149 + ] + }, + { + "agent_collarbone_2": [ + 181, + 205, + 21 + ] + }, + { + "agent_neck_2 (shadows)": [ + 150, + 182, + 40 + ] + }, + { + "agent_head_2": [ + 118, + 11, + 39 + ] + }, + { + "stretch_robot_head_2": [ + 250, + 207, + 148 + ] + }, + { + "agent_neck_3 (shadows)": [ + 217, + 141, + 116 + ] + }, + { + "stretch_robot_omniwheel": [ + 223, + 178, + 146 + ] + }, + { + "robot_elbow_link": [ + 216, + 247, + 35 + ] + }, + { + "robot_camera_link_n": [ + 253, + 211, + 136 + ] + }, + { + "robot_finger_r": [ + 70, + 162, + 71 + ] + }, + { + "robot_finger_l": [ + 93, + 178, + 216 + ] + }, + { + "robot_ar_tag": [ + 173, + 28, + 246 + ] + }, + { + "robot_cam_mount_n": [ + 95, + 235, + 8 + ] + }, + { + "robot_battery_n": [ + 66, + 235, + 123 + ] + }, + { + "robot_plate": [ + 32, + 122, + 98 + ] + }, + { + "robot_main_wheel_r_n": [ + 67, + 99, + 105 + ] + }, + { + "robot_shoulder_link": [ + 32, + 182, + 96 + ] + }, + { + "robot_roll_link_n": [ + 36, + 45, + 77 + ] + }, + { + "robot_gripper_link": [ + 252, + 86, + 18 + ] + }, + { + "robot_forearm_link": [ + 119, + 94, + 69 + ] + }, + { + "robot_main_wheel_l_n": [ + 34, + 249, + 174 + ] + }, + { + "robot_main_body": [ + 11, + 20, + 128 + ] + }, + { + "robot_wrist_link": [ + 9, + 40, + 76 + ] + }, + { + "robot_tilt_link_n": [ + 246, + 74, + 63 + ] + }, + { + "SideTable|-03.60|+00.00|-01.61": [ + 249, + 223, + 120 + ] + }, + { + "SideTable": [ + 202, + 45, + 114 + ] + }, + { + "SideTable|-03.60|+00.00|+01.44": [ + 179, + 183, + 93 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 92, + 144, + 162 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 183, + 69, + 164 + ] + }, + { + "stretch_robot_wheel_r": [ + 16, + 198, + 64 + ] + }, + { + "agent_collarbone_3": [ + 178, + 183, + 129 + ] + }, + { + "stretch_robot_wheel_l": [ + 115, + 189, + 42 + ] + }, + { + "DiningTable|+01.88|+00.00|-00.29": [ + 38, + 39, + 157 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 13, + 146, + 77 + ] + }, + { + "agent_neck_1 (shadows)": [ + 10, + 230, + 166 + ] + }, + { + "Box|+01.27|+00.15|-00.29": [ + 254, + 47, + 191 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "CoffeeTable|-02.02|+00.01|+00.02": [ + 188, + 156, + 252 + ] + }, + { + "CoffeeTable": [ + 18, + 14, + 75 + ] + }, + { + "agent_body_1": [ + 255, + 133, + 39 + ] + }, + { + "DiningTable|-01.86|+00.23|+02.79": [ + 90, + 159, + 77 + ] + }, + { + "stretch_robot_base": [ + 186, + 148, + 26 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 17, + 27, + 44 + ] + }, + { + "agent_neck_2": [ + 241, + 148, + 7 + ] + }, + { + "agent_collarbone_1": [ + 246, + 207, + 172 + ] + }, + { + "stretch_robot_head_3": [ + 129, + 235, + 248 + ] + }, + { + "Chair|+01.46|00.00|+00.20": [ + 76, + 157, + 237 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "Chair|+02.29|00.00|-00.78": [ + 60, + 58, + 75 + ] + }, + { + "Chair|+02.22|00.00|+00.15": [ + 106, + 234, + 40 + ] + }, + { + "Chair|+01.64|00.00|-00.85": [ + 26, + 155, + 141 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 37, + 245, + 132 + ] + }, + { + "Statue|-03.59|+00.60|+01.43": [ + 203, + 93, + 128 + ] + } +] \ No newline at end of file diff --git a/train/train1202/0/0.json b/train/train1202/0/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f3a3b2222a0444faa410f2adddf72840e1cbf80f --- /dev/null +++ b/train/train1202/0/0.json @@ -0,0 +1,4262 @@ +{ + "object": [ + { + "objectId": "Bowl|surface|4|14", + "object_info": { + "name": "Bowl|surface|4|14", + "position": { + "x": 4.138007164001465, + "y": 0.08874782919883728, + "z": 6.3692626953125 + }, + "rotation": { + "x": -0.0008045348222367465, + "y": 90.00009155273438, + "z": 0.00039010721957311034 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [], + "distance": 5.21930456161499, + "objectType": "Bowl", + "objectId": "Bowl|surface|4|14", + "assetId": "Bowl_6", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.230236053466797, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.230236053466797, + 0.08824843168258667, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.17130538821220398, + 6.277033805847168 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824843168258667, + 6.277033805847168 + ] + ], + "center": { + "x": 4.138006210327148, + "y": 0.12977690994739532, + "z": 6.369263648986816 + }, + "size": { + "x": 0.18445968627929688, + "y": 0.08305695652961731, + "z": 0.18445968627929688 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.2302374839782715, + 0.08825086057186127, + 6.277031898498535 + ], + [ + 4.23023796081543, + 0.08824960887432098, + 6.461493015289307 + ], + [ + 4.045776844024658, + 0.08824701607227325, + 6.461493492126465 + ], + [ + 4.0457763671875, + 0.08824826776981354, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130599915981293, + 6.277032375335693 + ], + [ + 4.230236530303955, + 0.17130474746227264, + 6.461493492126465 + ], + [ + 4.045775413513184, + 0.17130215466022491, + 6.461493968963623 + ], + [ + 4.045775413513184, + 0.1713034063577652, + 6.277032852172852 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "door|4|5", + "object_info": { + "name": "door|4|5", + "position": { + "x": 3.2712955474853516, + "y": -0.0022848844528198242, + "z": 1.335561990737915 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 1.7348806858062744, + "objectType": "Doorway", + "objectId": "door|4|5", + "assetId": "Doorway_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.322866916656494, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 3.322866916656494, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 3.322866916656494, + -0.002017974853515625, + 1.316781759262085 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 2.3705310821533203 + ], + [ + 2.355100154876709, + 2.0939149856567383, + 1.316781759262085 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 2.3705310821533203 + ], + [ + 2.355100154876709, + -0.002017974853515625, + 1.316781759262085 + ] + ], + "center": { + "x": 2.8389835357666016, + "y": 1.0459485054016113, + "z": 1.8436564207077026 + }, + "size": { + "x": 0.9677667617797852, + "y": 2.095932960510254, + "z": 1.0537493228912354 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|15", + "object_info": { + "name": "CellPhone|surface|4|15", + "position": { + "x": 4.434444904327393, + "y": 0.08847507834434509, + "z": 6.409006118774414 + }, + "rotation": { + "x": 0.00010714182280935347, + "y": 90.00020599365234, + "z": -0.001583149773068726 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.232123374938965, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|15", + "assetId": "Cellphone_5", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.504461288452148, + 0.0882478654384613, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662994742393494, + 6.372182846069336 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.0882478654384613, + 6.372182846069336 + ] + ], + "center": { + "x": 4.434030055999756, + "y": 0.09243890643119812, + "z": 6.409006118774414 + }, + "size": { + "x": 0.14086246490478516, + "y": 0.008382081985473633, + "z": 0.07364654541015625 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.504461288452148, + 0.0882478728890419, + 6.372182846069336 + ], + [ + 4.504461288452148, + 0.08824990689754486, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.08825016766786575, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.08824813365936279, + 6.372183322906494 + ], + [ + 4.504461288452148, + 0.09662765264511108, + 6.372182369232178 + ], + [ + 4.504461288452148, + 0.09662968665361404, + 6.445828914642334 + ], + [ + 4.3635993003845215, + 0.09662995487451553, + 6.445829391479492 + ], + [ + 4.363598823547363, + 0.09662792086601257, + 6.372183322906494 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Book|surface|4|26", + "object_info": { + "name": "Book|surface|4|26", + "position": { + "x": 5.355928897857666, + "y": 0.7821989059448242, + "z": 3.5031158924102783 + }, + "rotation": { + "x": 0.02382192388176918, + "y": 0.004052666947245598, + "z": 0.9088017344474792 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.3361923694610596, + "objectType": "Book", + "objectId": "Book|surface|4|26", + "assetId": "Book_15", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.444652557373047, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.444652557373047, + 0.7808306217193604, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7986949682235718, + 3.384079933166504 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.622157096862793 + ], + [ + 5.26725959777832, + 0.7808306217193604, + 3.384079933166504 + ] + ], + "center": { + "x": 5.355956077575684, + "y": 0.7897627949714661, + "z": 3.5031185150146484 + }, + "size": { + "x": 0.17739295959472656, + "y": 0.017864346504211426, + "z": 0.23807716369628906 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.444687366485596, + 0.7814724445343018, + 3.6221396923065186 + ], + [ + 5.267521858215332, + 0.7786621451377869, + 3.6221511363983154 + ], + [ + 5.267505168914795, + 0.778761088848114, + 3.3840901851654053 + ], + [ + 5.4446702003479, + 0.7815714478492737, + 3.3840787410736084 + ], + [ + 5.4444074630737305, + 0.7991089820861816, + 3.6221470832824707 + ], + [ + 5.267242431640625, + 0.796298623085022, + 3.6221582889556885 + ], + [ + 5.26722526550293, + 0.7963976263999939, + 3.3840975761413574 + ], + [ + 5.444390773773193, + 0.7992079854011536, + 3.3840861320495605 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|4", + "object_info": { + "name": "Chair|4|1|4", + "position": { + "x": 4.753887176513672, + "y": 0.0031416714191436768, + "z": 3.267345666885376 + }, + "rotation": { + "x": -0.0, + "y": 96.67647552490234, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 2.208132266998291, + "objectType": "Chair", + "objectId": "Chair|4|1|4", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.072547912597656, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 5.072547912597656, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 5.072547912597656, + -1.0132789611816406e-05, + 3.025862216949463 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.5126709938049316 + ], + [ + 4.440659523010254, + 0.8033758401870728, + 3.025862216949463 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.5126709938049316 + ], + [ + 4.440659523010254, + -1.0132789611816406e-05, + 3.025862216949463 + ] + ], + "center": { + "x": 4.756603717803955, + "y": 0.40168285369873047, + "z": 3.2692666053771973 + }, + "size": { + "x": 0.6318883895874023, + "y": 0.8033859729766846, + "z": 0.48680877685546875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.03221321105957, + -9.98377799987793e-06, + 3.0005099773406982 + ], + [ + 5.086026191711426, + -9.98377799987793e-06, + 3.460228204727173 + ], + [ + 4.479863166809082, + -9.98377799987793e-06, + 3.5311837196350098 + ], + [ + 4.426050186157227, + -9.98377799987793e-06, + 3.071465492248535 + ], + [ + 5.03221321105957, + 0.8033754825592041, + 3.0005099773406982 + ], + [ + 5.086026191711426, + 0.8033754825592041, + 3.460228204727173 + ], + [ + 4.479863166809082, + 0.8033754825592041, + 3.5311837196350098 + ], + [ + 4.426050186157227, + 0.8033754825592041, + 3.071465492248535 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Laptop|surface|4|23", + "object_info": { + "name": "Laptop|surface|4|23", + "position": { + "x": 5.23272705078125, + "y": 0.7810472846031189, + "z": 3.946084976196289 + }, + "rotation": { + "x": 1.3113454770063981e-05, + "y": 4.1948929720092565e-05, + "z": -6.975405267439783e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 2.299999952316284, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.7415850162506104, + "objectType": "Laptop", + "objectId": "Laptop|surface|4|23", + "assetId": "Laptop_19", + "parentReceptacles": [ + "DiningTable|4|1|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.459753036499023, + 0.7810469269752502, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.829770028591156, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.829770028591156, + 3.780513286590576 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810469269752502, + 3.780513286590576 + ] + ], + "center": { + "x": 5.23272705078125, + "y": 0.8054084777832031, + "z": 3.948308229446411 + }, + "size": { + "x": 0.4540519714355469, + "y": 0.04872310161590576, + "z": 0.3355898857116699 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.459753036499023, + 0.781046986579895, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.781047523021698, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.7810475826263428, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.7810470461845398, + 3.780513048171997 + ], + [ + 5.459753036499023, + 0.8297694325447083, + 4.116102695465088 + ], + [ + 5.005701065063477, + 0.8297699689865112, + 4.116103172302246 + ], + [ + 5.005701065063477, + 0.8297700881958008, + 3.7805135250091553 + ], + [ + 5.459753036499023, + 0.829769492149353, + 3.780513048171997 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Chair|4|1|3", + "object_info": { + "name": "Chair|4|1|3", + "position": { + "x": 4.753437519073486, + "y": 0.0031416714191436768, + "z": 4.125640392303467 + }, + "rotation": { + "x": -0.0, + "y": 69.56246948242188, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.012551784515381, + "objectType": "Chair", + "objectId": "Chair|4|1|3", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.112885475158691, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 5.112885475158691, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 5.112885475158691, + -1.0013580322265625e-05, + 3.8157224655151367 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 4.443963050842285 + ], + [ + 4.39578914642334, + 0.8033758401870728, + 3.8157224655151367 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 4.443963050842285 + ], + [ + 4.39578914642334, + -1.0013580322265625e-05, + 3.8157224655151367 + ] + ], + "center": { + "x": 4.754337310791016, + "y": 0.40168291330337524, + "z": 4.129842758178711 + }, + "size": { + "x": 0.7170963287353516, + "y": 0.803385853767395, + "z": 0.6282405853271484 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.12278938293457, + -9.98377799987793e-06, + 4.014980316162109 + ], + [ + 4.9611663818359375, + -9.98377799987793e-06, + 4.448701858520508 + ], + [ + 4.389281272888184, + -9.98377799987793e-06, + 4.235593318939209 + ], + [ + 4.550904273986816, + -9.98377799987793e-06, + 3.8018712997436523 + ], + [ + 5.12278938293457, + 0.8033754825592041, + 4.014980316162109 + ], + [ + 4.9611663818359375, + 0.8033754825592041, + 4.448701858520508 + ], + [ + 4.389281272888184, + 0.8033754825592041, + 4.235593318939209 + ], + [ + 4.550904273986816, + 0.8033754825592041, + 3.8018712997436523 + ] + ] + } + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___0", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.5883870124816895, + "y": 0.08263473212718964, + "z": 6.329518795013428 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Bowl|surface|4|14", + "Plate|surface|4|19", + "Pen|surface|4|25", + "CellPhone|surface|4|15" + ], + "distance": 5.147557735443115, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.1894378662109375, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 5.1894378662109375, + 0.08242693543434143, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.18163445591926575, + 6.1643147468566895 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.494722843170166 + ], + [ + 3.9873361587524414, + 0.08242693543434143, + 6.1643147468566895 + ] + ], + "center": { + "x": 4.5883870124816895, + "y": 0.1320306956768036, + "z": 6.329518795013428 + }, + "size": { + "x": 1.202101707458496, + "y": 0.09920752048492432, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Plate|surface|4|19", + "object_info": { + "name": "Plate|surface|4|19", + "position": { + "x": 4.8791022300720215, + "y": 0.08857652544975281, + "z": 6.369263172149658 + }, + "rotation": { + "x": 7.83866344136186e-05, + "y": 89.99977111816406, + "z": 0.0004667239263653755 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6200000047683716, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [ + "TVStand|4|0|0" + ], + "distance": 5.184935092926025, + "objectType": "Plate", + "objectId": "Plate|surface|4|19", + "assetId": "Plate_14", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.997548580169678, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.997548580169678, + 0.0882486030459404, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.115453340113163, + 6.249765872955322 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.4866623878479 + ], + [ + 4.760651111602783, + 0.0882486030459404, + 6.249765872955322 + ] + ], + "center": { + "x": 4.8790998458862305, + "y": 0.1018509715795517, + "z": 6.368214130401611 + }, + "size": { + "x": 0.23689746856689453, + "y": 0.027204737067222595, + "z": 0.23689651489257812 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.997549533843994, + 0.08825035393238068, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.08824842423200607, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.08824875205755234, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.08825068175792694, + 6.249765872955322 + ], + [ + 4.997549533843994, + 0.11545311659574509, + 6.249766826629639 + ], + [ + 4.997548580169678, + 0.11545118689537048, + 6.486663341522217 + ], + [ + 4.760651111602783, + 0.11545151472091675, + 6.4866623878479 + ], + [ + 4.7606520652771, + 0.11545343697071075, + 6.249765872955322 + ] + ] + } + } + }, + { + "objectId": "Pen|surface|4|25", + "object_info": { + "name": "Pen|surface|4|25", + "position": { + "x": 4.730879783630371, + "y": 0.09389401972293854, + "z": 6.3692626953125 + }, + "rotation": { + "x": 4.163075573160313e-05, + "y": 179.99993896484375, + "z": 359.9720153808594 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.182531833648682, + "objectType": "Pen", + "objectId": "Pen|surface|4|25", + "assetId": "Pen_1", + "parentReceptacles": [ + "TVStand|4|0|0___0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.736525058746338, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.736525058746338, + 0.0882490798830986, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.09953894466161728, + 6.262863636016846 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.462701320648193 + ], + [ + 4.725234508514404, + 0.0882490798830986, + 6.262863636016846 + ] + ], + "center": { + "x": 4.730879783630371, + "y": 0.09389401227235794, + "z": 6.3627824783325195 + }, + "size": { + "x": 0.011290550231933594, + "y": 0.011289864778518677, + "z": 0.19983768463134766 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.7252373695373535, + 0.08824633061885834, + 6.262863636016846 + ], + [ + 4.736527919769287, + 0.08825184404850006, + 6.262863636016846 + ], + [ + 4.736527442932129, + 0.0882519856095314, + 6.462701797485352 + ], + [ + 4.7252373695373535, + 0.08824647217988968, + 6.462701797485352 + ], + [ + 4.725232124328613, + 0.09953603893518448, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.0995415523648262, + 6.262863636016846 + ], + [ + 4.736522197723389, + 0.09954169392585754, + 6.462701797485352 + ], + [ + 4.725231647491455, + 0.09953618794679642, + 6.462701797485352 + ] + ] + } + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Plate|surface|4|19", + "Book|surface|4|22", + "Television|4|0|1", + "Bowl|surface|4|14", + "Watch|surface|4|16", + "Chair|4|1|2", + "CellPhone|surface|4|15", + "Dresser|4|3", + "Pen|surface|4|25", + "TVStand|4|0|0___1", + "TVStand|4|0|0___0", + "Chair|4|1|3", + "Painting|4|6", + "Dresser|4|3___1", + "Laptop|surface|4|23", + "Dresser|4|3___0", + "CreditCard|surface|4|21", + "door|4|5", + "Book|surface|4|26", + "CellPhone|surface|4|17", + "Chair|4|1|4", + "Dresser|4|3___2", + "Vase|surface|4|24", + "Painting|4|4", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train1202/0/0_depth_npy.npy b/train/train1202/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e995a1e41a2228c8a4f0e86f5fd5e9e096e483ca --- /dev/null +++ b/train/train1202/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d9f19d6b3f5a68a9a3ab7a5bb4ce6505d620647527f8342ac1abd87efee9678 +size 3145856 diff --git a/train/train1202/0/0_semantic_sensor_npy.npy b/train/train1202/0/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..36c9324bd9e48a55ea8d24ffb1dd75dec2baf010 --- /dev/null +++ b/train/train1202/0/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d824343a386824bb45f4a57d6210cbe55599c5d7914496db7a5bc8f7cd24311 +size 2359424 diff --git a/train/train1202/0/1.json b/train/train1202/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..90ef6f533b0c7215686ddfd8ee2d5adb680f1afc --- /dev/null +++ b/train/train1202/0/1.json @@ -0,0 +1,1063 @@ +{ + "object": [ + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2", + "Painting|3|7" + ] +} \ No newline at end of file diff --git a/train/train1202/0/1_depth_npy.npy b/train/train1202/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e7f1794f70220f3cad8428d5be33ad248e579110 --- /dev/null +++ b/train/train1202/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93c8387e8577ec6d8be9de0597b514a2b2c23c0333233d2ba611d42f64f0727f +size 3145856 diff --git a/train/train1202/0/1_semantic_sensor_npy.npy b/train/train1202/0/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..fbad58eff9868154e7e09716108fdef790571339 --- /dev/null +++ b/train/train1202/0/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50a0baab6ebcbfee9972f72ed3156da8dc0169d74b2bfe8f4aa424682e4b0320 +size 2359424 diff --git a/train/train1202/0/depth_0.png b/train/train1202/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..78a873c2b6fd9bf79231ded1645a0b7b15d70084 Binary files /dev/null and b/train/train1202/0/depth_0.png differ diff --git a/train/train1202/0/depth_1.png b/train/train1202/0/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..25b303e3dce5764e78b72291420dafb720eaaaa6 Binary files /dev/null and b/train/train1202/0/depth_1.png differ diff --git a/train/train1202/0/mask_questions.jsonl b/train/train1202/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88ea328e427bf1954c0da1c8fef3dbc64a951fca --- /dev/null +++ b/train/train1202/0/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 11628, "folder_dir": "train1202/0", "pair_name": "0-1:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Chair\nB. Book\nC. Fridge\nD. Bowl", "answer": "C", "object_name": "Fridge", "image_1": "train1202/0/rgb_0.png", "image_2": "train1202/0/rgb_1.png", "mask_image": "train1202/0/rgb_1_mask_Fridge|2|1.png", "options": ["Chair", "Book", "Fridge", "Bowl"]} +{"id": 11629, "folder_dir": "train1202/0", "pair_name": "0-1:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. CellPhone\nB. Fridge\nC. Bowl\nD. Chair", "answer": "D", "object_name": "Chair", "image_1": "train1202/0/rgb_0.png", "image_2": "train1202/0/rgb_1.png", "mask_image": "train1202/0/rgb_1_mask_Chair|4|1|1.png", "options": ["CellPhone", "Fridge", "Bowl", "Chair"]} +{"id": 11630, "folder_dir": "train1202/0", "pair_name": "0-1:DiningTable|4|1|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Television\nB. Bowl\nC. DiningTable\nD. Fridge", "answer": "C", "object_name": "DiningTable", "image_1": "train1202/0/rgb_0.png", "image_2": "train1202/0/rgb_1.png", "mask_image": "train1202/0/rgb_1_mask_DiningTable|4|1|0.png", "options": ["Television", "Bowl", "DiningTable", "Fridge"]} +{"id": 11631, "folder_dir": "train1202/0", "pair_name": "1-0:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Painting\nB. Fridge\nC. Painting\nD. Chair", "answer": "B", "object_name": "Fridge", "image_1": "train1202/0/rgb_1.png", "image_2": "train1202/0/rgb_0.png", "mask_image": "train1202/0/rgb_0_mask_Fridge|2|1.png", "options": ["Painting", "Fridge", "Painting", "Chair"]} +{"id": 11632, "folder_dir": "train1202/0", "pair_name": "1-0:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. FloorLamp\nB. Chair\nC. Fridge\nD. Painting", "answer": "B", "object_name": "Chair", "image_1": "train1202/0/rgb_1.png", "image_2": "train1202/0/rgb_0.png", "mask_image": "train1202/0/rgb_0_mask_Chair|4|1|1.png", "options": ["FloorLamp", "Chair", "Fridge", "Painting"]} diff --git a/train/train1202/0/questions_distance.jsonl b/train/train1202/0/questions_distance.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c37888aecaa0dd1c1f3d20d21f9f48cdc99c07b1 --- /dev/null +++ b/train/train1202/0/questions_distance.jsonl @@ -0,0 +1,2 @@ +{"id": 4713, "folder_dir": "train1202/0", "query": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plate\nB. Vase\nC. Pen\nD. Other\n", "answer": "A", "src_object": "Fridge", "target_object": "Plate", "question": "Which of the following objects is closest to Fridge in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 3.2752397628418777, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 3.3688445445323785, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Pen", "semantic_id": "Pen|surface|4|25", "distance": 3.4199019474024865, "com": {"x": 4.730879783630371, "y": 0.09389401227235794, "z": 6.3627824783325195}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1202/0/rgb_0.png", "image_2": "train1202/0/rgb_1.png"} +{"id": 4714, "folder_dir": "train1202/0", "query": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Plate\nB. Vase\nC. Laptop\nD. Other\n", "answer": "C", "src_object": "DiningTable", "target_object": "Laptop", "question": "Which of the following objects is closest to DiningTable in the two images? (Note: Use the distance between centroids to determine closeness.) \nChoose the correct option from the list below. Only respond with the corresponding letter.", "options": [{"text": "Plate", "semantic_id": "Plate|surface|4|19", "distance": 2.7017484397998337, "com": {"x": 4.8790998458862305, "y": 0.1018509715795517, "z": 6.368214130401611}}, {"text": "Vase", "semantic_id": "Vase|surface|4|24", "distance": 2.6415033172924987, "com": {"x": 4.7310686111450195, "y": 0.3073330521583557, "z": 6.28977108001709}}, {"text": "Laptop", "semantic_id": "Laptop|surface|4|23", "distance": 0.4872012114058171, "com": {"x": 5.23272705078125, "y": 0.8054084777832031, "z": 3.948308229446411}}, {"text": "Other", "semantic_id": -1, "distance": -1, "com": [0, 0, 0]}], "image_1": "train1202/0/rgb_0.png", "image_2": "train1202/0/rgb_1.png"} diff --git a/train/train1202/0/rgb_0.png b/train/train1202/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c1e33e17a5091e3db6b0051d08e99bf97e31287b --- /dev/null +++ b/train/train1202/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73693276b823b659475fba1ea790925411087775fe95553a2773d76bd275d09d +size 429998 diff --git a/train/train1202/0/rgb_0_mask_Chair|4|1|1.png b/train/train1202/0/rgb_0_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..9c52bed757d515fa3d79d6897a1fbb3eac31b036 --- /dev/null +++ b/train/train1202/0/rgb_0_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d13463867c67447373908e1b1fc2576ebd6d611cbbb8f94fec276a258d0aede8 +size 361373 diff --git a/train/train1202/0/rgb_0_mask_Fridge|2|1.png b/train/train1202/0/rgb_0_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..118393b09b2fd35ed8d0acca47e92869ece9b25f --- /dev/null +++ b/train/train1202/0/rgb_0_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22572900b3c579a19685e7b7223c743fc2b5376b6d7826441195a9edd537e1c0 +size 369428 diff --git a/train/train1202/0/rgb_1.png b/train/train1202/0/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..8634b6d73c9c34a127a48b5d041df57257f5c84a --- /dev/null +++ b/train/train1202/0/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bb872eb1050e282e811f07589c90ae3b01ef4832a4b12bfd5ae8789e5a52b13 +size 449106 diff --git a/train/train1202/0/rgb_1_mask_Chair|4|1|1.png b/train/train1202/0/rgb_1_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..78be8fd88abbeb34f1f1ff5e8b368d7419f3b705 --- /dev/null +++ b/train/train1202/0/rgb_1_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02ec1180c817ee1581e0463adbf2cbe89c7e55c4a170221aa4f658b6a05ff1c3 +size 361982 diff --git a/train/train1202/0/rgb_1_mask_DiningTable|4|1|0.png b/train/train1202/0/rgb_1_mask_DiningTable|4|1|0.png new file mode 100644 index 0000000000000000000000000000000000000000..cb1de62139aea942d042d70c06ce00b31cf1c666 --- /dev/null +++ b/train/train1202/0/rgb_1_mask_DiningTable|4|1|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c74a5281eed64764abc6972dc8f36faea55752da11e5c460ef2171a326e871a5 +size 382347 diff --git a/train/train1202/0/rgb_1_mask_Fridge|2|1.png b/train/train1202/0/rgb_1_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..48826be385df64dc54d0c0e41e7dae6d231c85da --- /dev/null +++ b/train/train1202/0/rgb_1_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb38c5989e23693046b0bc7edfc327c98682dd31b63a78526d2171cb7ae73e3c +size 397868 diff --git a/train/train1202/0/semantic_0.png b/train/train1202/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6d22527bfad6713383c87e218b7049f3101991a5 Binary files /dev/null and b/train/train1202/0/semantic_0.png differ diff --git a/train/train1202/0/semantic_1.png b/train/train1202/0/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e99d41d06754c296c35b90dcc4d537218c79d18b Binary files /dev/null and b/train/train1202/0/semantic_1.png differ diff --git a/train/train1202/1/0.json b/train/train1202/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..11bb96945b9f5abdeee4226ea9b189ebc02835e7 --- /dev/null +++ b/train/train1202/1/0.json @@ -0,0 +1,1776 @@ +{ + "object": [ + { + "objectId": "Box|2|4", + "object_info": { + "name": "Box|2|4", + "position": { + "x": 8.430974960327148, + "y": 0.1223372370004654, + "z": 2.736884593963623 + }, + "rotation": { + "x": 0.0004607817973010242, + "y": 270.0002746582031, + "z": 0.005070087965577841 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.8676472902297974, + "objectType": "Box", + "objectId": "Box|2|4", + "assetId": "Box_14", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.77099609375, + 0.21162006258964539, + 2.972344160079956 + ], + [ + 8.77099609375, + 0.21162006258964539, + 2.5253422260284424 + ], + [ + 8.77099609375, + -1.2516975402832031e-06, + 2.972344160079956 + ], + [ + 8.77099609375, + -1.2516975402832031e-06, + 2.5253422260284424 + ], + [ + 8.326072692871094, + 0.21162006258964539, + 2.972344160079956 + ], + [ + 8.326072692871094, + 0.21162006258964539, + 2.5253422260284424 + ], + [ + 8.326072692871094, + -1.2516975402832031e-06, + 2.972344160079956 + ], + [ + 8.326072692871094, + -1.2516975402832031e-06, + 2.5253422260284424 + ] + ], + "center": { + "x": 8.548534393310547, + "y": 0.10580940544605255, + "z": 2.748843193054199 + }, + "size": { + "x": 0.44492340087890625, + "y": 0.21162131428718567, + "z": 0.44700193405151367 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.32607364654541, + 7.718801498413086e-06, + 2.972362995147705 + ], + [ + 8.326071739196777, + -3.183633089065552e-05, + 2.5253615379333496 + ], + [ + 8.77099609375, + -2.826005220413208e-05, + 2.5253593921661377 + ], + [ + 8.770998001098633, + 1.1295080184936523e-05, + 2.9723610877990723 + ], + [ + 8.326072692871094, + 0.21165677905082703, + 2.972344398498535 + ], + [ + 8.326069831848145, + 0.21161723136901855, + 2.5253429412841797 + ], + [ + 8.770994186401367, + 0.21162080764770508, + 2.5253407955169678 + ], + [ + 8.77099609375, + 0.21166035532951355, + 2.9723422527313232 + ] + ] + } + } + }, + { + "objectId": "door|1|7", + "object_info": { + "name": "door|1|7", + "position": { + "x": 8.794837951660156, + "y": -0.0006053447723388672, + "z": 7.41908073425293 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 5.402925968170166, + "objectType": "Doorway", + "objectId": "door|1|7", + "assetId": "Doorway_Double_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.882314682006836, + 2.1302273273468018, + 7.4212846755981445 + ], + [ + 8.882314682006836, + 2.1302273273468018, + 5.4243621826171875 + ], + [ + 8.882314682006836, + 4.76837158203125e-07, + 7.4212846755981445 + ], + [ + 8.882314682006836, + 4.76837158203125e-07, + 5.4243621826171875 + ], + [ + 8.709684371948242, + 2.1302273273468018, + 7.4212846755981445 + ], + [ + 8.709684371948242, + 2.1302273273468018, + 5.4243621826171875 + ], + [ + 8.709684371948242, + 4.76837158203125e-07, + 7.4212846755981445 + ], + [ + 8.709684371948242, + 4.76837158203125e-07, + 5.4243621826171875 + ] + ], + "center": { + "x": 8.795999526977539, + "y": 1.06511390209198, + "z": 6.422823429107666 + }, + "size": { + "x": 0.17263031005859375, + "y": 2.1302268505096436, + "z": 1.996922492980957 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DogBed|7|1", + "object_info": { + "name": "DogBed|7|1", + "position": { + "x": 6.7530293464660645, + "y": 0.003948092460632324, + "z": 8.802528381347656 + }, + "rotation": { + "x": 0.00011883115803357214, + "y": 180.0, + "z": -0.00013289888738654554 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 6.366048812866211, + "objectType": "DogBed", + "objectId": "DogBed|7|1", + "assetId": "Dog_Bed_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.245218276977539, + 0.3159509301185608, + 9.222332000732422 + ], + [ + 7.245218276977539, + 0.3159509301185608, + 8.387552261352539 + ], + [ + 7.245218276977539, + -1.6689300537109375e-06, + 9.222332000732422 + ], + [ + 7.245218276977539, + -1.6689300537109375e-06, + 8.387552261352539 + ], + [ + 6.252839088439941, + 0.3159509301185608, + 9.222332000732422 + ], + [ + 6.252839088439941, + 0.3159509301185608, + 8.387552261352539 + ], + [ + 6.252839088439941, + -1.6689300537109375e-06, + 9.222332000732422 + ], + [ + 6.252839088439941, + -1.6689300537109375e-06, + 8.387552261352539 + ] + ], + "center": { + "x": 6.74902868270874, + "y": 0.15797463059425354, + "z": 8.80494213104248 + }, + "size": { + "x": 0.9923791885375977, + "y": 0.3159525990486145, + "z": 0.8347797393798828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.2528395652771, + -3.511086106300354e-06, + 8.387552261352539 + ], + [ + 7.245218753814697, + -1.2088567018508911e-06, + 8.387552261352539 + ], + [ + 7.2452192306518555, + 5.224719643592834e-07, + 9.222332000732422 + ], + [ + 6.252840042114258, + -1.7797574400901794e-06, + 9.222332954406738 + ], + [ + 6.252839088439941, + 0.3159487247467041, + 8.387551307678223 + ], + [ + 7.245218276977539, + 0.31595101952552795, + 8.387551307678223 + ], + [ + 7.245218276977539, + 0.31595274806022644, + 9.222332000732422 + ], + [ + 6.252839088439941, + 0.3159504532814026, + 9.222332000732422 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___9", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 4.772314548492432, + "y": 0.8680540323257446, + "z": 3.9597089290618896 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.4582667350769043, + "objectType": "Drawer", + "objectId": "Dresser|2|1___9", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.013865947723389, + 0.9560860395431519, + 4.35503625869751 + ], + [ + 5.013865947723389, + 0.9560860395431519, + 3.5643815994262695 + ], + [ + 5.013865947723389, + 0.7800220251083374, + 4.35503625869751 + ], + [ + 5.013865947723389, + 0.7800220251083374, + 3.5643815994262695 + ], + [ + 4.512638568878174, + 0.9560860395431519, + 4.35503625869751 + ], + [ + 4.512638568878174, + 0.9560860395431519, + 3.5643815994262695 + ], + [ + 4.512638568878174, + 0.7800220251083374, + 4.35503625869751 + ], + [ + 4.512638568878174, + 0.7800220251083374, + 3.5643815994262695 + ] + ], + "center": { + "x": 4.763252258300781, + "y": 0.8680540323257446, + "z": 3.9597089290618896 + }, + "size": { + "x": 0.5012273788452148, + "y": 0.17606401443481445, + "z": 0.7906546592712402 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bed|2|0|0", + "object_info": { + "name": "Bed|2|0|0", + "position": { + "x": 5.5928826332092285, + "y": 0.0035758018493652344, + "z": 1.0551531314849854 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|2|0|2", + "Pillow|2|0|1", + "BaseballBat|surface|2|40" + ], + "distance": 2.0571515560150146, + "objectType": "Bed", + "objectId": "Bed|2|0|0", + "assetId": "Bed_30", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.836576461791992, + 1.2202703952789307, + 2.085306406021118 + ], + [ + 6.836576461791992, + 1.2202703952789307, + 0.024999618530273438 + ], + [ + 6.836576461791992, + 0.0, + 2.085306406021118 + ], + [ + 6.836576461791992, + 0.0, + 0.024999618530273438 + ], + [ + 4.423000335693359, + 1.2202703952789307, + 2.085306406021118 + ], + [ + 4.423000335693359, + 1.2202703952789307, + 0.024999618530273438 + ], + [ + 4.423000335693359, + 0.0, + 2.085306406021118 + ], + [ + 4.423000335693359, + 0.0, + 0.024999618530273438 + ] + ], + "center": { + "x": 5.629788398742676, + "y": 0.6101351976394653, + "z": 1.0551530122756958 + }, + "size": { + "x": 2.413576126098633, + "y": 1.2202703952789307, + "z": 2.0603067874908447 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.836575031280518, + 0.0, + 0.02499973773956299 + ], + [ + 6.836575508117676, + 0.0, + 2.0853066444396973 + ], + [ + 4.422999858856201, + 0.0, + 2.0853066444396973 + ], + [ + 4.422999382019043, + 0.0, + 0.02499997615814209 + ], + [ + 6.836575031280518, + 1.2202701568603516, + 0.02499973773956299 + ], + [ + 6.836575508117676, + 1.2202701568603516, + 2.0853066444396973 + ], + [ + 4.422999858856201, + 1.2202701568603516, + 2.0853066444396973 + ], + [ + 4.422999382019043, + 1.2202701568603516, + 0.02499997615814209 + ] + ] + } + } + }, + { + "objectId": "door|2|7", + "object_info": { + "name": "door|2|7", + "position": { + "x": 8.431601524353027, + "y": -0.0006053447723388672, + "z": 4.399161338806152 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.6921160221099854, + "objectType": "Doorway", + "objectId": "door|2|7", + "assetId": "Doorway_Double_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.440450668334961, + 2.1302268505096436, + 4.459325790405273 + ], + [ + 8.440450668334961, + 2.1302268505096436, + 3.481687068939209 + ], + [ + 8.440450668334961, + 4.76837158203125e-07, + 4.459325790405273 + ], + [ + 8.440450668334961, + 4.76837158203125e-07, + 3.481687068939209 + ], + [ + 6.436883926391602, + 2.1302268505096436, + 4.459325790405273 + ], + [ + 6.436883926391602, + 2.1302268505096436, + 3.481687068939209 + ], + [ + 6.436883926391602, + 4.76837158203125e-07, + 4.459325790405273 + ], + [ + 6.436883926391602, + 4.76837158203125e-07, + 3.481687068939209 + ] + ], + "center": { + "x": 7.438667297363281, + "y": 1.0651136636734009, + "z": 3.970506429672241 + }, + "size": { + "x": 2.0035667419433594, + "y": 2.1302263736724854, + "z": 0.9776387214660645 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___5", + "object_info": { + "name": "Drawer (6)", + "position": { + "x": 4.772895812988281, + "y": 0.4862332046031952, + "z": 3.9597089290618896 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.492332696914673, + "objectType": "Drawer", + "objectId": "Dresser|2|1___5", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.014693260192871, + 0.5837735533714294, + 4.356569290161133 + ], + [ + 5.014693260192871, + 0.5837735533714294, + 3.5628485679626465 + ], + [ + 5.014693260192871, + 0.3909764885902405, + 4.356569290161133 + ], + [ + 5.014693260192871, + 0.3909764885902405, + 3.5628485679626465 + ], + [ + 4.513989448547363, + 0.5837735533714294, + 4.356569290161133 + ], + [ + 4.513989448547363, + 0.5837735533714294, + 3.5628485679626465 + ], + [ + 4.513989448547363, + 0.3909764885902405, + 4.356569290161133 + ], + [ + 4.513989448547363, + 0.3909764885902405, + 3.5628485679626465 + ] + ], + "center": { + "x": 4.764341354370117, + "y": 0.48737502098083496, + "z": 3.9597089290618896 + }, + "size": { + "x": 0.5007038116455078, + "y": 0.19279706478118896, + "z": 0.7937207221984863 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___1", + "object_info": { + "name": "Drawer (10)", + "position": { + "x": 4.773125648498535, + "y": 0.10441219806671143, + "z": 3.9597089290618896 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.583279609680176, + "objectType": "Drawer", + "objectId": "Dresser|2|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.014677047729492, + 0.19244426488876343, + 4.35503625869751 + ], + [ + 5.014677047729492, + 0.19244426488876343, + 3.5643820762634277 + ], + [ + 5.014677047729492, + 0.016380131244659424, + 4.35503625869751 + ], + [ + 5.014677047729492, + 0.016380131244659424, + 3.5643820762634277 + ], + [ + 4.513449668884277, + 0.19244426488876343, + 4.35503625869751 + ], + [ + 4.513449668884277, + 0.19244426488876343, + 3.5643820762634277 + ], + [ + 4.513449668884277, + 0.016380131244659424, + 4.35503625869751 + ], + [ + 4.513449668884277, + 0.016380131244659424, + 3.5643820762634277 + ] + ], + "center": { + "x": 4.764063358306885, + "y": 0.10441219806671143, + "z": 3.9597091674804688 + }, + "size": { + "x": 0.5012273788452148, + "y": 0.176064133644104, + "z": 0.790654182434082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___7", + "object_info": { + "name": "Drawer (4)", + "position": { + "x": 4.772781848907471, + "y": 0.6805710196495056, + "z": 3.9597089290618896 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.4675352573394775, + "objectType": "Drawer", + "objectId": "Dresser|2|1___7", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.014579772949219, + 0.778111457824707, + 4.356569290161133 + ], + [ + 5.014579772949219, + 0.778111457824707, + 3.5628485679626465 + ], + [ + 5.014579772949219, + 0.5853142738342285, + 4.356569290161133 + ], + [ + 5.014579772949219, + 0.5853142738342285, + 3.5628485679626465 + ], + [ + 4.513875961303711, + 0.778111457824707, + 4.356569290161133 + ], + [ + 4.513875961303711, + 0.778111457824707, + 3.5628485679626465 + ], + [ + 4.513875961303711, + 0.5853142738342285, + 4.356569290161133 + ], + [ + 4.513875961303711, + 0.5853142738342285, + 3.5628485679626465 + ] + ], + "center": { + "x": 4.764227867126465, + "y": 0.6817128658294678, + "z": 3.9597089290618896 + }, + "size": { + "x": 0.5007038116455078, + "y": 0.19279718399047852, + "z": 0.7937207221984863 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 4.728116512298584, + "y": 0.0006633996963500977, + "z": 3.5628998279571533 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|surface|2|34", + "Vase|surface|2|35", + "Statue|surface|2|32", + "Statue|surface|2|33" + ], + "distance": 2.455274820327759, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "Dresser_315_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.017060279846191, + 0.9697672128677368, + 4.372999668121338 + ], + [ + 5.017060279846191, + 0.9697672128677368, + 2.7599868774414062 + ], + [ + 5.017060279846191, + 4.6193599700927734e-06, + 4.372999668121338 + ], + [ + 5.017060279846191, + 4.6193599700927734e-06, + 2.7599868774414062 + ], + [ + 4.422999382019043, + 0.9697672128677368, + 4.372999668121338 + ], + [ + 4.422999382019043, + 0.9697672128677368, + 2.7599868774414062 + ], + [ + 4.422999382019043, + 4.6193599700927734e-06, + 4.372999668121338 + ], + [ + 4.422999382019043, + 4.6193599700927734e-06, + 2.7599868774414062 + ] + ], + "center": { + "x": 4.720029830932617, + "y": 0.48488590121269226, + "z": 3.566493272781372 + }, + "size": { + "x": 0.5940608978271484, + "y": 0.9697625637054443, + "z": 1.6130127906799316 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.01706075668335, + 4.649162292480469e-06, + 2.7599871158599854 + ], + [ + 5.017061233520508, + 4.649162292480469e-06, + 4.372999668121338 + ], + [ + 4.422999858856201, + 4.649162292480469e-06, + 4.372999668121338 + ], + [ + 4.422999382019043, + 4.649162292480469e-06, + 2.7599873542785645 + ], + [ + 5.01706075668335, + 0.9697670936584473, + 2.7599871158599854 + ], + [ + 5.017061233520508, + 0.9697670936584473, + 4.372999668121338 + ], + [ + 4.422999858856201, + 0.9697670936584473, + 4.372999668121338 + ], + [ + 4.422999382019043, + 0.9697670936584473, + 2.7599873542785645 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___3", + "object_info": { + "name": "Drawer (8)", + "position": { + "x": 4.772985458374023, + "y": 0.29189541935920715, + "z": 3.9597089290618896 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CellPhone|surface|2|39" + ], + "distance": 2.5318658351898193, + "objectType": "Drawer", + "objectId": "Dresser|2|1___3", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.013589859008789, + 0.3873800039291382, + 4.356757164001465 + ], + [ + 5.013589859008789, + 0.3873800039291382, + 3.5626602172851562 + ], + [ + 5.013589859008789, + 0.19641083478927612, + 4.356757164001465 + ], + [ + 5.013589859008789, + 0.19641083478927612, + 3.5626602172851562 + ], + [ + 4.514226913452148, + 0.3873800039291382, + 4.356757164001465 + ], + [ + 4.514226913452148, + 0.3873800039291382, + 3.5626602172851562 + ], + [ + 4.514226913452148, + 0.19641083478927612, + 4.356757164001465 + ], + [ + 4.514226913452148, + 0.19641083478927612, + 3.5626602172851562 + ] + ], + "center": { + "x": 4.763908386230469, + "y": 0.29189541935920715, + "z": 3.9597086906433105 + }, + "size": { + "x": 0.4993629455566406, + "y": 0.19096916913986206, + "z": 0.7940969467163086 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___4", + "object_info": { + "name": "Drawer (5)", + "position": { + "x": 4.772895336151123, + "y": 0.4862332046031952, + "z": 3.165760040283203 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.127019166946411, + "objectType": "Drawer", + "objectId": "Dresser|2|1___4", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.014693260192871, + 0.5837735533714294, + 3.562620162963867 + ], + [ + 5.014693260192871, + 0.5837735533714294, + 2.768899440765381 + ], + [ + 5.014693260192871, + 0.3909764885902405, + 3.562620162963867 + ], + [ + 5.014693260192871, + 0.3909764885902405, + 2.768899440765381 + ], + [ + 4.513989448547363, + 0.5837735533714294, + 3.562620162963867 + ], + [ + 4.513989448547363, + 0.5837735533714294, + 2.768899440765381 + ], + [ + 4.513989448547363, + 0.3909764885902405, + 3.562620162963867 + ], + [ + 4.513989448547363, + 0.3909764885902405, + 2.768899440765381 + ] + ], + "center": { + "x": 4.764341354370117, + "y": 0.48737502098083496, + "z": 3.165759801864624 + }, + "size": { + "x": 0.5007038116455078, + "y": 0.19279706478118896, + "z": 0.7937207221984863 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___2", + "object_info": { + "name": "Drawer (7)", + "position": { + "x": 4.772985458374023, + "y": 0.29189541935920715, + "z": 3.165760040283203 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.1732075214385986, + "objectType": "Drawer", + "objectId": "Dresser|2|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.013589859008789, + 0.3873800039291382, + 3.5628085136413574 + ], + [ + 5.013589859008789, + 0.3873800039291382, + 2.768711566925049 + ], + [ + 5.013589859008789, + 0.19641083478927612, + 3.5628085136413574 + ], + [ + 5.013589859008789, + 0.19641083478927612, + 2.768711566925049 + ], + [ + 4.514226913452148, + 0.3873800039291382, + 3.5628085136413574 + ], + [ + 4.514226913452148, + 0.3873800039291382, + 2.768711566925049 + ], + [ + 4.514226913452148, + 0.19641083478927612, + 3.5628085136413574 + ], + [ + 4.514226913452148, + 0.19641083478927612, + 2.768711566925049 + ] + ], + "center": { + "x": 4.763908386230469, + "y": 0.29189541935920715, + "z": 3.165760040283203 + }, + "size": { + "x": 0.4993629455566406, + "y": 0.19096916913986206, + "z": 0.7940969467163086 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___0", + "object_info": { + "name": "Drawer (9)", + "position": { + "x": 4.773125648498535, + "y": 0.10441219806671143, + "z": 3.165760040283203 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.2328951358795166, + "objectType": "Drawer", + "objectId": "Dresser|2|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.014677047729492, + 0.19244426488876343, + 3.561087131500244 + ], + [ + 5.014677047729492, + 0.19244426488876343, + 2.770432949066162 + ], + [ + 5.014677047729492, + 0.016380131244659424, + 3.561087131500244 + ], + [ + 5.014677047729492, + 0.016380131244659424, + 2.770432949066162 + ], + [ + 4.513449668884277, + 0.19244426488876343, + 3.561087131500244 + ], + [ + 4.513449668884277, + 0.19244426488876343, + 2.770432949066162 + ], + [ + 4.513449668884277, + 0.016380131244659424, + 3.561087131500244 + ], + [ + 4.513449668884277, + 0.016380131244659424, + 2.770432949066162 + ] + ], + "center": { + "x": 4.764063358306885, + "y": 0.10441219806671143, + "z": 3.165760040283203 + }, + "size": { + "x": 0.5012273788452148, + "y": 0.176064133644104, + "z": 0.790654182434082 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 6.800000190734863, + "y": 0.9009997844696045, + "z": 2.5999999046325684 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 6.800000190734863, + "y": 1.5759997367858887, + "z": 2.5999999046325684 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Bed|2|0|0", + "Box|2|4" + ], + "different_object": [ + "Dresser|2|1___9", + "Dresser|2|1___5", + "Dresser|2|1", + "Dresser|2|1___3", + "door|2|7", + "DogBed|7|1", + "door|1|7", + "Dresser|2|1___1", + "Dresser|2|1___4", + "Dresser|2|1___2", + "Dresser|2|1___0", + "Dresser|2|1___7" + ] +} \ No newline at end of file diff --git a/train/train1202/1/0_depth_npy.npy b/train/train1202/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b3405b892ee0ba278ecbe7eca92030a162df1cf4 --- /dev/null +++ b/train/train1202/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4231b5b685497e17990b065964b6a0e5096d748a3a79a48acc0734e562a16669 +size 3145856 diff --git a/train/train1202/1/0_semantic_sensor_npy.npy b/train/train1202/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..aaa5fff2c6278df14552553667e145f04009cd21 --- /dev/null +++ b/train/train1202/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0e0c0799f038fbd045b9cde2f34444993e224b227e89532f78fdd8776599f7a +size 2359424 diff --git a/train/train1202/1/1.json b/train/train1202/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..8ce84f3d65cb94025fa01862af26aa196e790fa2 --- /dev/null +++ b/train/train1202/1/1.json @@ -0,0 +1,1742 @@ +{ + "object": [ + { + "objectId": "Box|2|4", + "object_info": { + "name": "Box|2|4", + "position": { + "x": 8.430974960327148, + "y": 0.1223372370004654, + "z": 2.736884593963623 + }, + "rotation": { + "x": 0.0004607817973010242, + "y": 270.0002746582031, + "z": 0.005070087965577841 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.8676472902297974, + "objectType": "Box", + "objectId": "Box|2|4", + "assetId": "Box_14", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.77099609375, + 0.21162006258964539, + 2.972344160079956 + ], + [ + 8.77099609375, + 0.21162006258964539, + 2.5253422260284424 + ], + [ + 8.77099609375, + -1.2516975402832031e-06, + 2.972344160079956 + ], + [ + 8.77099609375, + -1.2516975402832031e-06, + 2.5253422260284424 + ], + [ + 8.326072692871094, + 0.21162006258964539, + 2.972344160079956 + ], + [ + 8.326072692871094, + 0.21162006258964539, + 2.5253422260284424 + ], + [ + 8.326072692871094, + -1.2516975402832031e-06, + 2.972344160079956 + ], + [ + 8.326072692871094, + -1.2516975402832031e-06, + 2.5253422260284424 + ] + ], + "center": { + "x": 8.548534393310547, + "y": 0.10580940544605255, + "z": 2.748843193054199 + }, + "size": { + "x": 0.44492340087890625, + "y": 0.21162131428718567, + "z": 0.44700193405151367 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.32607364654541, + 7.718801498413086e-06, + 2.972362995147705 + ], + [ + 8.326071739196777, + -3.183633089065552e-05, + 2.5253615379333496 + ], + [ + 8.77099609375, + -2.826005220413208e-05, + 2.5253593921661377 + ], + [ + 8.770998001098633, + 1.1295080184936523e-05, + 2.9723610877990723 + ], + [ + 8.326072692871094, + 0.21165677905082703, + 2.972344398498535 + ], + [ + 8.326069831848145, + 0.21161723136901855, + 2.5253429412841797 + ], + [ + 8.770994186401367, + 0.21162080764770508, + 2.5253407955169678 + ], + [ + 8.77099609375, + 0.21166035532951355, + 2.9723422527313232 + ] + ] + } + } + }, + { + "objectId": "SideTable|2|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 4.682093620300293, + "y": 0.16605037450790405, + "z": 2.4230504035949707 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.1959755420684814, + "objectType": "Drawer", + "objectId": "SideTable|2|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.805251121520996, + 0.33396798372268677, + 2.684617519378662 + ], + [ + 4.805251121520996, + 0.33396798372268677, + 2.1614832878112793 + ], + [ + 4.805251121520996, + 0.03717601299285889, + 2.684617519378662 + ], + [ + 4.805251121520996, + 0.03717601299285889, + 2.1614832878112793 + ], + [ + 4.558749198913574, + 0.33396798372268677, + 2.684617519378662 + ], + [ + 4.558749198913574, + 0.33396798372268677, + 2.1614832878112793 + ], + [ + 4.558749198913574, + 0.03717601299285889, + 2.684617519378662 + ], + [ + 4.558749198913574, + 0.03717601299285889, + 2.1614832878112793 + ] + ], + "center": { + "x": 4.682000160217285, + "y": 0.18557199835777283, + "z": 2.4230504035949707 + }, + "size": { + "x": 0.24650192260742188, + "y": 0.2967919707298279, + "z": 0.5231342315673828 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bed|2|0|0", + "object_info": { + "name": "Bed|2|0|0", + "position": { + "x": 5.5928826332092285, + "y": 0.0035758018493652344, + "z": 1.0551531314849854 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": true, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Pillow|2|0|2", + "Pillow|2|0|1", + "BaseballBat|surface|2|40" + ], + "distance": 2.0571515560150146, + "objectType": "Bed", + "objectId": "Bed|2|0|0", + "assetId": "Bed_30", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.836576461791992, + 1.2202703952789307, + 2.085306406021118 + ], + [ + 6.836576461791992, + 1.2202703952789307, + 0.024999618530273438 + ], + [ + 6.836576461791992, + 0.0, + 2.085306406021118 + ], + [ + 6.836576461791992, + 0.0, + 0.024999618530273438 + ], + [ + 4.423000335693359, + 1.2202703952789307, + 2.085306406021118 + ], + [ + 4.423000335693359, + 1.2202703952789307, + 0.024999618530273438 + ], + [ + 4.423000335693359, + 0.0, + 2.085306406021118 + ], + [ + 4.423000335693359, + 0.0, + 0.024999618530273438 + ] + ], + "center": { + "x": 5.629788398742676, + "y": 0.6101351976394653, + "z": 1.0551530122756958 + }, + "size": { + "x": 2.413576126098633, + "y": 1.2202703952789307, + "z": 2.0603067874908447 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.836575031280518, + 0.0, + 0.02499973773956299 + ], + [ + 6.836575508117676, + 0.0, + 2.0853066444396973 + ], + [ + 4.422999858856201, + 0.0, + 2.0853066444396973 + ], + [ + 4.422999382019043, + 0.0, + 0.02499997615814209 + ], + [ + 6.836575031280518, + 1.2202701568603516, + 0.02499973773956299 + ], + [ + 6.836575508117676, + 1.2202701568603516, + 2.0853066444396973 + ], + [ + 4.422999858856201, + 1.2202701568603516, + 2.0853066444396973 + ], + [ + 4.422999382019043, + 1.2202701568603516, + 0.02499997615814209 + ] + ] + } + } + }, + { + "objectId": "Pillow|2|0|2", + "object_info": { + "name": "Pillow|2|0|2", + "position": { + "x": 4.866145133972168, + "y": 0.7792706489562988, + "z": 0.7586457133293152 + }, + "rotation": { + "x": 7.793842996761668e-06, + "y": 89.99999237060547, + "z": -2.359150857955683e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.5682759284973145, + "objectType": "Pillow", + "objectId": "Pillow|2|0|2", + "assetId": "pillow_3", + "parentReceptacles": [ + "Bed|2|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.059290885925293, + 0.8468272089958191, + 1.0051532983779907 + ], + [ + 5.059290885925293, + 0.8468272089958191, + 0.5121381282806396 + ], + [ + 5.059290885925293, + 0.7117140889167786, + 1.0051532983779907 + ], + [ + 5.059290885925293, + 0.7117140889167786, + 0.5121381282806396 + ], + [ + 4.672999382019043, + 0.8468272089958191, + 1.0051532983779907 + ], + [ + 4.672999382019043, + 0.8468272089958191, + 0.5121381282806396 + ], + [ + 4.672999382019043, + 0.7117140889167786, + 1.0051532983779907 + ], + [ + 4.672999382019043, + 0.7117140889167786, + 0.5121381282806396 + ] + ], + "center": { + "x": 4.866145133972168, + "y": 0.7792706489562988, + "z": 0.7586457133293152 + }, + "size": { + "x": 0.38629150390625, + "y": 0.13511312007904053, + "z": 0.4930151700973511 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.059290409088135, + 0.7117141485214233, + 0.512138307094574 + ], + [ + 5.059290409088135, + 0.7117143273353577, + 1.0051531791687012 + ], + [ + 4.672999858856201, + 0.7117143869400024, + 1.0051531791687012 + ], + [ + 4.672999858856201, + 0.7117142081260681, + 0.5121382474899292 + ], + [ + 5.059290409088135, + 0.8468269109725952, + 0.5121382474899292 + ], + [ + 5.059290409088135, + 0.8468270897865295, + 1.0051531791687012 + ], + [ + 4.672999858856201, + 0.8468271493911743, + 1.0051531791687012 + ], + [ + 4.672999858856201, + 0.84682697057724, + 0.5121382474899292 + ] + ] + } + } + }, + { + "objectId": "Desk|2|2", + "object_info": { + "name": "Desk|2|2", + "position": { + "x": 8.40109920501709, + "y": 0.006105691194534302, + "z": 0.7765030860900879 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 34.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Desktop|surface|2|28" + ], + "distance": 2.5490009784698486, + "objectType": "Desk", + "objectId": "Desk|2|2", + "assetId": "Desk_318_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.771001815795898, + 0.674822211265564, + 1.5263663530349731 + ], + [ + 8.771001815795898, + 0.674822211265564, + 0.024998903274536133 + ], + [ + 8.771001815795898, + 1.2516975402832031e-06, + 1.5263663530349731 + ], + [ + 8.771001815795898, + 1.2516975402832031e-06, + 0.024998903274536133 + ], + [ + 8.052053451538086, + 0.674822211265564, + 1.5263663530349731 + ], + [ + 8.052053451538086, + 0.674822211265564, + 0.024998903274536133 + ], + [ + 8.052053451538086, + 1.2516975402832031e-06, + 1.5263663530349731 + ], + [ + 8.052053451538086, + 1.2516975402832031e-06, + 0.024998903274536133 + ] + ], + "center": { + "x": 8.411527633666992, + "y": 0.3374117314815521, + "z": 0.7756826281547546 + }, + "size": { + "x": 0.7189483642578125, + "y": 0.6748209595680237, + "z": 1.501367449760437 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.052055358886719, + 1.2218952178955078e-06, + 1.5263662338256836 + ], + [ + 8.052055358886719, + 1.2218952178955078e-06, + 0.024999260902404785 + ], + [ + 8.771002769470215, + 1.2218952178955078e-06, + 0.024999380111694336 + ], + [ + 8.771002769470215, + 1.2218952178955078e-06, + 1.5263662338256836 + ], + [ + 8.052055358886719, + 0.6748217344284058, + 1.5263662338256836 + ], + [ + 8.052055358886719, + 0.6748217344284058, + 0.024999260902404785 + ], + [ + 8.771002769470215, + 0.6748217344284058, + 0.024999380111694336 + ], + [ + 8.771002769470215, + 0.6748217344284058, + 1.5263662338256836 + ] + ] + } + } + }, + { + "objectId": "Desk|2|2___1", + "object_info": { + "name": "Cabinet", + "position": { + "x": 8.396843910217285, + "y": 0.2696812152862549, + "z": 0.343483030796051 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Dumbbell|surface|2|30", + "Laptop|surface|2|31", + "Pen|surface|2|38", + "Pen|surface|2|37" + ], + "distance": 2.7858972549438477, + "objectType": "Cabinet", + "objectId": "Desk|2|2___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.100282669067383, + 0.49885621666908264, + 0.6398211717605591 + ], + [ + 8.100282669067383, + 0.49885621666908264, + 0.044851601123809814 + ], + [ + 8.100282669067383, + 0.03130587935447693, + 0.6398211717605591 + ], + [ + 8.100282669067383, + 0.03130587935447693, + 0.044851601123809814 + ], + [ + 8.08011245727539, + 0.49885621666908264, + 0.6398211717605591 + ], + [ + 8.08011245727539, + 0.49885621666908264, + 0.044851601123809814 + ], + [ + 8.08011245727539, + 0.03130587935447693, + 0.6398211717605591 + ], + [ + 8.08011245727539, + 0.03130587935447693, + 0.044851601123809814 + ] + ], + "center": { + "x": 8.090197563171387, + "y": 0.2650810480117798, + "z": 0.34233638644218445 + }, + "size": { + "x": 0.020170211791992188, + "y": 0.4675503373146057, + "z": 0.5949695706367493 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pillow|2|0|1", + "object_info": { + "name": "Pillow|2|0|1", + "position": { + "x": 4.866145133972168, + "y": 0.7792706489562988, + "z": 1.3516607284545898 + }, + "rotation": { + "x": 9.49981313169701e-06, + "y": 90.0, + "z": -2.3562603018945083e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 2.2096176147460938, + "objectType": "Pillow", + "objectId": "Pillow|2|0|1", + "assetId": "pillow_3", + "parentReceptacles": [ + "Bed|2|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.059290885925293, + 0.8468272089958191, + 1.5981682538986206 + ], + [ + 5.059290885925293, + 0.8468272089958191, + 1.105153203010559 + ], + [ + 5.059290885925293, + 0.7117140889167786, + 1.5981682538986206 + ], + [ + 5.059290885925293, + 0.7117140889167786, + 1.105153203010559 + ], + [ + 4.672999382019043, + 0.8468272089958191, + 1.5981682538986206 + ], + [ + 4.672999382019043, + 0.8468272089958191, + 1.105153203010559 + ], + [ + 4.672999382019043, + 0.7117140889167786, + 1.5981682538986206 + ], + [ + 4.672999382019043, + 0.7117140889167786, + 1.105153203010559 + ] + ], + "center": { + "x": 4.866145133972168, + "y": 0.7792706489562988, + "z": 1.3516607284545898 + }, + "size": { + "x": 0.38629150390625, + "y": 0.13511312007904053, + "z": 0.4930150508880615 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.059290409088135, + 0.7117141485214233, + 1.1051533222198486 + ], + [ + 5.059290409088135, + 0.7117143273353577, + 1.598168134689331 + ], + [ + 4.672999858856201, + 0.7117143869400024, + 1.5981682538986206 + ], + [ + 4.672999382019043, + 0.7117142081260681, + 1.1051533222198486 + ], + [ + 5.059290409088135, + 0.8468269109725952, + 1.105153203010559 + ], + [ + 5.059290885925293, + 0.8468270897865295, + 1.598168134689331 + ], + [ + 4.672999858856201, + 0.8468271493911743, + 1.598168134689331 + ], + [ + 4.672999858856201, + 0.84682697057724, + 1.1051533222198486 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|surface|2|40", + "object_info": { + "name": "BaseballBat|surface|2|40", + "position": { + "x": 5.6392292976379395, + "y": 0.752737283706665, + "z": 0.6438158750534058 + }, + "rotation": { + "x": 0.00017971935449168086, + "y": 178.12692260742188, + "z": 90.00045776367188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": null, + "distance": 2.1682281494140625, + "objectType": "BaseballBat", + "objectId": "BaseballBat|surface|2|40", + "assetId": "BaseballBat_2", + "parentReceptacles": [ + "Bed|2|0|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.32571268081665, + 0.7924933433532715, + 0.7109322547912598 + ], + [ + 6.32571268081665, + 0.7924933433532715, + 0.5901658535003662 + ], + [ + 6.32571268081665, + 0.7117140293121338, + 0.7109322547912598 + ], + [ + 6.32571268081665, + 0.7117140293121338, + 0.5901658535003662 + ], + [ + 5.364525318145752, + 0.7924933433532715, + 0.7109322547912598 + ], + [ + 5.364525318145752, + 0.7924933433532715, + 0.5901658535003662 + ], + [ + 5.364525318145752, + 0.7117140293121338, + 0.7109322547912598 + ], + [ + 5.364525318145752, + 0.7117140293121338, + 0.5901658535003662 + ] + ], + "center": { + "x": 5.845118999481201, + "y": 0.7521036863327026, + "z": 0.650549054145813 + }, + "size": { + "x": 0.9611873626708984, + "y": 0.0807793140411377, + "z": 0.12076640129089355 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.367450714111328, + 0.7925009727478027, + 0.5901659727096558 + ], + [ + 5.367449760437012, + 0.7117140293121338, + 0.5901662111282349 + ], + [ + 5.364525318145752, + 0.7117142677307129, + 0.679594099521637 + ], + [ + 5.36452579498291, + 0.7925012707710266, + 0.6795938611030579 + ], + [ + 6.325713634490967, + 0.7924932241439819, + 0.6215041875839233 + ], + [ + 6.325713157653809, + 0.711706280708313, + 0.6215044260025024 + ], + [ + 6.322788715362549, + 0.7117065191268921, + 0.7109323143959045 + ], + [ + 6.322789192199707, + 0.792493462562561, + 0.7109320759773254 + ] + ] + } + } + }, + { + "objectId": "Desktop|surface|2|28", + "object_info": { + "name": "Desktop|surface|2|28", + "position": { + "x": 8.415900230407715, + "y": 0.6786128282546997, + "z": 0.7723906636238098 + }, + "rotation": { + "x": 1.1021804809570312, + "y": 270.03106689453125, + "z": -0.001094846986234188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 2.5399999618530273, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.4102518558502197, + "objectType": "Desktop", + "objectId": "Desktop|surface|2|28", + "assetId": "Desktop_316_1", + "parentReceptacles": [ + "Desk|2|2", + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.522489547729492, + 1.241240382194519, + 1.0911718606948853 + ], + [ + 8.522489547729492, + 1.241240382194519, + 0.21289432048797607 + ], + [ + 8.522489547729492, + 0.67481529712677, + 1.0911718606948853 + ], + [ + 8.522489547729492, + 0.67481529712677, + 0.21289432048797607 + ], + [ + 8.260072708129883, + 1.241240382194519, + 1.0911718606948853 + ], + [ + 8.260072708129883, + 1.241240382194519, + 0.21289432048797607 + ], + [ + 8.260072708129883, + 0.67481529712677, + 1.0911718606948853 + ], + [ + 8.260072708129883, + 0.67481529712677, + 0.21289432048797607 + ] + ], + "center": { + "x": 8.391281127929688, + "y": 0.9580278396606445, + "z": 0.6520330905914307 + }, + "size": { + "x": 0.2624168395996094, + "y": 0.566425085067749, + "z": 0.8782775402069092 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.271419525146484, + 0.6727114915847778, + 1.0912202596664429 + ], + [ + 8.270942687988281, + 0.6727283000946045, + 0.2129065990447998 + ], + [ + 8.522269248962402, + 0.6775635480880737, + 0.21277034282684326 + ], + [ + 8.522746086120605, + 0.6775467991828918, + 1.0910840034484863 + ], + [ + 8.260540962219238, + 1.2381575107574463, + 1.09123694896698 + ], + [ + 8.260064125061035, + 1.2381742000579834, + 0.21292328834533691 + ], + [ + 8.511390686035156, + 1.2430094480514526, + 0.21278703212738037 + ], + [ + 8.51186752319336, + 1.242992639541626, + 1.0911006927490234 + ] + ] + } + } + }, + { + "objectId": "SideTable|2|3", + "object_info": { + "name": "SideTable|2|3", + "position": { + "x": 4.615837574005127, + "y": 0.0021399855613708496, + "z": 2.4233272075653076 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Book|surface|2|36" + ], + "distance": 2.3169972896575928, + "objectType": "SideTable", + "objectId": "SideTable|2|3", + "assetId": "Side_Table_310_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.788668155670166, + 0.6686126589775085, + 2.7344536781311035 + ], + [ + 4.788668155670166, + 0.6686126589775085, + 2.112186908721924 + ], + [ + 4.788668155670166, + -1.0728836059570312e-06, + 2.7344536781311035 + ], + [ + 4.788668155670166, + -1.0728836059570312e-06, + 2.112186908721924 + ], + [ + 4.423000812530518, + 0.6686126589775085, + 2.7344536781311035 + ], + [ + 4.423000812530518, + 0.6686126589775085, + 2.112186908721924 + ], + [ + 4.423000812530518, + -1.0728836059570312e-06, + 2.7344536781311035 + ], + [ + 4.423000812530518, + -1.0728836059570312e-06, + 2.112186908721924 + ] + ], + "center": { + "x": 4.605834484100342, + "y": 0.3343057930469513, + "z": 2.4233202934265137 + }, + "size": { + "x": 0.36566734313964844, + "y": 0.6686137318611145, + "z": 0.6222667694091797 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.788668155670166, + -1.0728836059570312e-06, + 2.1121866703033447 + ], + [ + 4.788668632507324, + -1.0728836059570312e-06, + 2.7344536781311035 + ], + [ + 4.423000812530518, + -1.0728836059570312e-06, + 2.7344536781311035 + ], + [ + 4.423000335693359, + -1.0728836059570312e-06, + 2.1121866703033447 + ], + [ + 4.788668155670166, + 0.6686122417449951, + 2.1121866703033447 + ], + [ + 4.788668632507324, + 0.6686122417449951, + 2.7344536781311035 + ], + [ + 4.423000812530518, + 0.6686122417449951, + 2.7344536781311035 + ], + [ + 4.423000335693359, + 0.6686122417449951, + 2.1121866703033447 + ] + ] + } + } + }, + { + "objectId": "Desk|2|2___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 8.29877758026123, + "y": 0.5775682926177979, + "z": 0.34357231855392456 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Bowl|surface|2|27", + "Mug|surface|2|29" + ], + "distance": 2.674602746963501, + "objectType": "Drawer", + "objectId": "Desk|2|2___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.514257431030273, + 0.6580219268798828, + 0.6416956186294556 + ], + [ + 8.514257431030273, + 0.6580219268798828, + 0.04544961452484131 + ], + [ + 8.514257431030273, + 0.4971146583557129, + 0.6416956186294556 + ], + [ + 8.514257431030273, + 0.4971146583557129, + 0.04544961452484131 + ], + [ + 8.080728530883789, + 0.6580219268798828, + 0.6416956186294556 + ], + [ + 8.080728530883789, + 0.6580219268798828, + 0.04544961452484131 + ], + [ + 8.080728530883789, + 0.4971146583557129, + 0.6416956186294556 + ], + [ + 8.080728530883789, + 0.4971146583557129, + 0.04544961452484131 + ] + ], + "center": { + "x": 8.297492980957031, + "y": 0.5775682926177979, + "z": 0.34357261657714844 + }, + "size": { + "x": 0.4335289001464844, + "y": 0.16090726852416992, + "z": 0.5962460041046143 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 8.795999526977539, + "y": 0.5219792127609253, + "z": 2.479083776473999 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.0809152126312256, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Hung_32x60", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.917283058166504, + 2.1010403633117676, + 2.4800052642822266 + ], + [ + 8.917283058166504, + 2.1010403633117676, + 1.614147663116455 + ], + [ + 8.917283058166504, + 0.5208621025085449, + 2.4800052642822266 + ], + [ + 8.917283058166504, + 0.5208621025085449, + 1.614147663116455 + ], + [ + 8.674717903137207, + 2.1010403633117676, + 2.4800052642822266 + ], + [ + 8.674717903137207, + 2.1010403633117676, + 1.614147663116455 + ], + [ + 8.674717903137207, + 0.5208621025085449, + 2.4800052642822266 + ], + [ + 8.674717903137207, + 0.5208621025085449, + 1.614147663116455 + ] + ], + "center": { + "x": 8.796000480651855, + "y": 1.3109512329101562, + "z": 2.047076463699341 + }, + "size": { + "x": 0.24256515502929688, + "y": 1.5801782608032227, + "z": 0.8658576011657715 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 6.800000190734863, + "y": 0.9009997844696045, + "z": 2.700000047683716 + }, + "agent_rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 6.800000190734863, + "y": 1.5759997367858887, + "z": 2.700000047683716 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Bed|2|0|0", + "Box|2|4" + ], + "different_object": [ + "SideTable|2|3___1", + "Pillow|2|0|1", + "Desk|2|2", + "Desk|2|2___0", + "Desk|2|2___1", + "BaseballBat|surface|2|40", + "Pillow|2|0|2", + "Desktop|surface|2|28", + "window|2|0", + "SideTable|2|3" + ] +} \ No newline at end of file diff --git a/train/train1202/1/1_depth_npy.npy b/train/train1202/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..66a9a2ae77df2336e0c470f901eee62fe4556e8d --- /dev/null +++ b/train/train1202/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a060b1e1adb3928cd8da3a4ce628ef594916979df025f0b7cc9c3ed06cf9623d +size 3145856 diff --git a/train/train1202/1/1_semantic_sensor_npy.npy b/train/train1202/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..1ecebff09db062f1b73ae65bcc4d823e3fd43994 --- /dev/null +++ b/train/train1202/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f29aa692b576df40f279922d9ac6917fa5891f85d16ae31fb46163166f27901 +size 2359424 diff --git a/train/train1202/1/depth_0.png b/train/train1202/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..1145a4c02be2fb8fc64097513be8777fbe32df1e Binary files /dev/null and b/train/train1202/1/depth_0.png differ diff --git a/train/train1202/1/depth_1.png b/train/train1202/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..998d02d6c185eb1ca238a6a0a8561c093539ffcb Binary files /dev/null and b/train/train1202/1/depth_1.png differ diff --git a/train/train1202/1/mask_questions.jsonl b/train/train1202/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train1202/1/rgb_0.png b/train/train1202/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..f45164ebc7f5fd658be53df06e9e3f7baeac482e --- /dev/null +++ b/train/train1202/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afa0640647cb878b70d2df708cddd23706b0aed69091fd71f19576a64104afd1 +size 862844 diff --git a/train/train1202/1/rgb_1.png b/train/train1202/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..1a82d3f19b2eb0a156bf196a31cd330e4358e46d --- /dev/null +++ b/train/train1202/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd8af690feb9a5685d22c155b32cf8c3aa7615847fbb832d564bfbd12c834bb1 +size 1026082 diff --git a/train/train1202/1/semantic_0.png b/train/train1202/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6a766ee7f53fbd20ac9a06a32e76a26e82ba3e9c Binary files /dev/null and b/train/train1202/1/semantic_0.png differ diff --git a/train/train1202/1/semantic_1.png b/train/train1202/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..466164470c1fb122fe7552c1ef329e5f07b1ad35 Binary files /dev/null and b/train/train1202/1/semantic_1.png differ diff --git a/train/train1202/2/0.json b/train/train1202/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..94fa71b1649d32c8ee27769187e69c3b69f95100 --- /dev/null +++ b/train/train1202/2/0.json @@ -0,0 +1,1175 @@ +{ + "object": [ + { + "objectId": "Box|2|4", + "object_info": { + "name": "Box|2|4", + "position": { + "x": 8.430974960327148, + "y": 0.1223372370004654, + "z": 2.736884593963623 + }, + "rotation": { + "x": 0.0004607817973010242, + "y": 270.0002746582031, + "z": 0.005070087965577841 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.30000001192092896, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": [], + "distance": 1.8676472902297974, + "objectType": "Box", + "objectId": "Box|2|4", + "assetId": "Box_14", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.77099609375, + 0.21162006258964539, + 2.972344160079956 + ], + [ + 8.77099609375, + 0.21162006258964539, + 2.5253422260284424 + ], + [ + 8.77099609375, + -1.2516975402832031e-06, + 2.972344160079956 + ], + [ + 8.77099609375, + -1.2516975402832031e-06, + 2.5253422260284424 + ], + [ + 8.326072692871094, + 0.21162006258964539, + 2.972344160079956 + ], + [ + 8.326072692871094, + 0.21162006258964539, + 2.5253422260284424 + ], + [ + 8.326072692871094, + -1.2516975402832031e-06, + 2.972344160079956 + ], + [ + 8.326072692871094, + -1.2516975402832031e-06, + 2.5253422260284424 + ] + ], + "center": { + "x": 8.548534393310547, + "y": 0.10580940544605255, + "z": 2.748843193054199 + }, + "size": { + "x": 0.44492340087890625, + "y": 0.21162131428718567, + "z": 0.44700193405151367 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.32607364654541, + 7.718801498413086e-06, + 2.972362995147705 + ], + [ + 8.326071739196777, + -3.183633089065552e-05, + 2.5253615379333496 + ], + [ + 8.77099609375, + -2.826005220413208e-05, + 2.5253593921661377 + ], + [ + 8.770998001098633, + 1.1295080184936523e-05, + 2.9723610877990723 + ], + [ + 8.326072692871094, + 0.21165677905082703, + 2.972344398498535 + ], + [ + 8.326069831848145, + 0.21161723136901855, + 2.5253429412841797 + ], + [ + 8.770994186401367, + 0.21162080764770508, + 2.5253407955169678 + ], + [ + 8.77099609375, + 0.21166035532951355, + 2.9723422527313232 + ] + ] + } + } + }, + { + "objectId": "door|1|7", + "object_info": { + "name": "door|1|7", + "position": { + "x": 8.794837951660156, + "y": -0.0006053447723388672, + "z": 7.41908073425293 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 5.402925968170166, + "objectType": "Doorway", + "objectId": "door|1|7", + "assetId": "Doorway_Double_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.882314682006836, + 2.1302273273468018, + 7.4212846755981445 + ], + [ + 8.882314682006836, + 2.1302273273468018, + 5.4243621826171875 + ], + [ + 8.882314682006836, + 4.76837158203125e-07, + 7.4212846755981445 + ], + [ + 8.882314682006836, + 4.76837158203125e-07, + 5.4243621826171875 + ], + [ + 8.709684371948242, + 2.1302273273468018, + 7.4212846755981445 + ], + [ + 8.709684371948242, + 2.1302273273468018, + 5.4243621826171875 + ], + [ + 8.709684371948242, + 4.76837158203125e-07, + 7.4212846755981445 + ], + [ + 8.709684371948242, + 4.76837158203125e-07, + 5.4243621826171875 + ] + ], + "center": { + "x": 8.795999526977539, + "y": 1.06511390209198, + "z": 6.422823429107666 + }, + "size": { + "x": 0.17263031005859375, + "y": 2.1302268505096436, + "z": 1.996922492980957 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Desk|2|2", + "object_info": { + "name": "Desk|2|2", + "position": { + "x": 8.40109920501709, + "y": 0.006105691194534302, + "z": 0.7765030860900879 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 34.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Desktop|surface|2|28" + ], + "distance": 2.5490009784698486, + "objectType": "Desk", + "objectId": "Desk|2|2", + "assetId": "Desk_318_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.771001815795898, + 0.674822211265564, + 1.5263663530349731 + ], + [ + 8.771001815795898, + 0.674822211265564, + 0.024998903274536133 + ], + [ + 8.771001815795898, + 1.2516975402832031e-06, + 1.5263663530349731 + ], + [ + 8.771001815795898, + 1.2516975402832031e-06, + 0.024998903274536133 + ], + [ + 8.052053451538086, + 0.674822211265564, + 1.5263663530349731 + ], + [ + 8.052053451538086, + 0.674822211265564, + 0.024998903274536133 + ], + [ + 8.052053451538086, + 1.2516975402832031e-06, + 1.5263663530349731 + ], + [ + 8.052053451538086, + 1.2516975402832031e-06, + 0.024998903274536133 + ] + ], + "center": { + "x": 8.411527633666992, + "y": 0.3374117314815521, + "z": 0.7756826281547546 + }, + "size": { + "x": 0.7189483642578125, + "y": 0.6748209595680237, + "z": 1.501367449760437 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.052055358886719, + 1.2218952178955078e-06, + 1.5263662338256836 + ], + [ + 8.052055358886719, + 1.2218952178955078e-06, + 0.024999260902404785 + ], + [ + 8.771002769470215, + 1.2218952178955078e-06, + 0.024999380111694336 + ], + [ + 8.771002769470215, + 1.2218952178955078e-06, + 1.5263662338256836 + ], + [ + 8.052055358886719, + 0.6748217344284058, + 1.5263662338256836 + ], + [ + 8.052055358886719, + 0.6748217344284058, + 0.024999260902404785 + ], + [ + 8.771002769470215, + 0.6748217344284058, + 0.024999380111694336 + ], + [ + 8.771002769470215, + 0.6748217344284058, + 1.5263662338256836 + ] + ] + } + } + }, + { + "objectId": "door|2|7", + "object_info": { + "name": "door|2|7", + "position": { + "x": 8.431601524353027, + "y": -0.0006053447723388672, + "z": 4.399161338806152 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.6921160221099854, + "objectType": "Doorway", + "objectId": "door|2|7", + "assetId": "Doorway_Double_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.440450668334961, + 2.1302268505096436, + 4.459325790405273 + ], + [ + 8.440450668334961, + 2.1302268505096436, + 3.481687068939209 + ], + [ + 8.440450668334961, + 4.76837158203125e-07, + 4.459325790405273 + ], + [ + 8.440450668334961, + 4.76837158203125e-07, + 3.481687068939209 + ], + [ + 6.436883926391602, + 2.1302268505096436, + 4.459325790405273 + ], + [ + 6.436883926391602, + 2.1302268505096436, + 3.481687068939209 + ], + [ + 6.436883926391602, + 4.76837158203125e-07, + 4.459325790405273 + ], + [ + 6.436883926391602, + 4.76837158203125e-07, + 3.481687068939209 + ] + ], + "center": { + "x": 7.438667297363281, + "y": 1.0651136636734009, + "z": 3.970506429672241 + }, + "size": { + "x": 2.0035667419433594, + "y": 2.1302263736724854, + "z": 0.9776387214660645 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|2|7", + "object_info": { + "name": "Painting|2|7", + "position": { + "x": 8.791004180908203, + "y": 1.6403731107711792, + "z": 3.746293783187866 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.503121852874756, + "objectType": "Painting", + "objectId": "Painting|2|7", + "assetId": "Wall_Decor_Photo_3V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.790999412536621, + 1.928335189819336, + 4.176751136779785 + ], + [ + 8.790999412536621, + 1.928335189819336, + 3.3158369064331055 + ], + [ + 8.790999412536621, + 1.3524110317230225, + 4.176751136779785 + ], + [ + 8.790999412536621, + 1.3524110317230225, + 3.3158369064331055 + ], + [ + 8.759259223937988, + 1.928335189819336, + 4.176751136779785 + ], + [ + 8.759259223937988, + 1.928335189819336, + 3.3158369064331055 + ], + [ + 8.759259223937988, + 1.3524110317230225, + 4.176751136779785 + ], + [ + 8.759259223937988, + 1.3524110317230225, + 3.3158369064331055 + ] + ], + "center": { + "x": 8.775129318237305, + "y": 1.6403731107711792, + "z": 3.7462940216064453 + }, + "size": { + "x": 0.03174018859863281, + "y": 0.5759241580963135, + "z": 0.8609142303466797 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Desk|2|2___1", + "object_info": { + "name": "Cabinet", + "position": { + "x": 8.396843910217285, + "y": 0.2696812152862549, + "z": 0.343483030796051 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Dumbbell|surface|2|30", + "Laptop|surface|2|31", + "Pen|surface|2|38", + "Pen|surface|2|37" + ], + "distance": 2.7858972549438477, + "objectType": "Cabinet", + "objectId": "Desk|2|2___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.100282669067383, + 0.49885621666908264, + 0.6398211717605591 + ], + [ + 8.100282669067383, + 0.49885621666908264, + 0.044851601123809814 + ], + [ + 8.100282669067383, + 0.03130587935447693, + 0.6398211717605591 + ], + [ + 8.100282669067383, + 0.03130587935447693, + 0.044851601123809814 + ], + [ + 8.08011245727539, + 0.49885621666908264, + 0.6398211717605591 + ], + [ + 8.08011245727539, + 0.49885621666908264, + 0.044851601123809814 + ], + [ + 8.08011245727539, + 0.03130587935447693, + 0.6398211717605591 + ], + [ + 8.08011245727539, + 0.03130587935447693, + 0.044851601123809814 + ] + ], + "center": { + "x": 8.090197563171387, + "y": 0.2650810480117798, + "z": 0.34233638644218445 + }, + "size": { + "x": 0.020170211791992188, + "y": 0.4675503373146057, + "z": 0.5949695706367493 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Desktop|surface|2|28", + "object_info": { + "name": "Desktop|surface|2|28", + "position": { + "x": 8.415900230407715, + "y": 0.6786128282546997, + "z": 0.7723906636238098 + }, + "rotation": { + "x": 1.1021804809570312, + "y": 270.03106689453125, + "z": -0.001094846986234188 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 2.5399999618530273, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.4102518558502197, + "objectType": "Desktop", + "objectId": "Desktop|surface|2|28", + "assetId": "Desktop_316_1", + "parentReceptacles": [ + "Desk|2|2", + "Floor" + ], + "controlledObjects": [], + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.522489547729492, + 1.241240382194519, + 1.0911718606948853 + ], + [ + 8.522489547729492, + 1.241240382194519, + 0.21289432048797607 + ], + [ + 8.522489547729492, + 0.67481529712677, + 1.0911718606948853 + ], + [ + 8.522489547729492, + 0.67481529712677, + 0.21289432048797607 + ], + [ + 8.260072708129883, + 1.241240382194519, + 1.0911718606948853 + ], + [ + 8.260072708129883, + 1.241240382194519, + 0.21289432048797607 + ], + [ + 8.260072708129883, + 0.67481529712677, + 1.0911718606948853 + ], + [ + 8.260072708129883, + 0.67481529712677, + 0.21289432048797607 + ] + ], + "center": { + "x": 8.391281127929688, + "y": 0.9580278396606445, + "z": 0.6520330905914307 + }, + "size": { + "x": 0.2624168395996094, + "y": 0.566425085067749, + "z": 0.8782775402069092 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 8.271419525146484, + 0.6727114915847778, + 1.0912202596664429 + ], + [ + 8.270942687988281, + 0.6727283000946045, + 0.2129065990447998 + ], + [ + 8.522269248962402, + 0.6775635480880737, + 0.21277034282684326 + ], + [ + 8.522746086120605, + 0.6775467991828918, + 1.0910840034484863 + ], + [ + 8.260540962219238, + 1.2381575107574463, + 1.09123694896698 + ], + [ + 8.260064125061035, + 1.2381742000579834, + 0.21292328834533691 + ], + [ + 8.511390686035156, + 1.2430094480514526, + 0.21278703212738037 + ], + [ + 8.51186752319336, + 1.242992639541626, + 1.0911006927490234 + ] + ] + } + } + }, + { + "objectId": "Painting|2|6", + "object_info": { + "name": "Painting|2|6", + "position": { + "x": 8.789870262145996, + "y": 1.5714397430419922, + "z": 0.9211785793304443 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.6651899814605713, + "objectType": "Painting", + "objectId": "Painting|2|6", + "assetId": "Wall_Decor_Painting_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.791000366210938, + 1.8758436441421509, + 1.1507232189178467 + ], + [ + 8.791000366210938, + 1.8758436441421509, + 0.6929202079772949 + ], + [ + 8.791000366210938, + 1.2679415941238403, + 1.1507232189178467 + ], + [ + 8.791000366210938, + 1.2679415941238403, + 0.6929202079772949 + ], + [ + 8.7718505859375, + 1.8758436441421509, + 1.1507232189178467 + ], + [ + 8.7718505859375, + 1.8758436441421509, + 0.6929202079772949 + ], + [ + 8.7718505859375, + 1.2679415941238403, + 1.1507232189178467 + ], + [ + 8.7718505859375, + 1.2679415941238403, + 0.6929202079772949 + ] + ], + "center": { + "x": 8.781425476074219, + "y": 1.5718926191329956, + "z": 0.9218217134475708 + }, + "size": { + "x": 0.0191497802734375, + "y": 0.6079020500183105, + "z": 0.45780301094055176 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 8.795999526977539, + "y": 0.5219792127609253, + "z": 2.479083776473999 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.0809152126312256, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Hung_32x60", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.917283058166504, + 2.1010403633117676, + 2.4800052642822266 + ], + [ + 8.917283058166504, + 2.1010403633117676, + 1.614147663116455 + ], + [ + 8.917283058166504, + 0.5208621025085449, + 2.4800052642822266 + ], + [ + 8.917283058166504, + 0.5208621025085449, + 1.614147663116455 + ], + [ + 8.674717903137207, + 2.1010403633117676, + 2.4800052642822266 + ], + [ + 8.674717903137207, + 2.1010403633117676, + 1.614147663116455 + ], + [ + 8.674717903137207, + 0.5208621025085449, + 2.4800052642822266 + ], + [ + 8.674717903137207, + 0.5208621025085449, + 1.614147663116455 + ] + ], + "center": { + "x": 8.796000480651855, + "y": 1.3109512329101562, + "z": 2.047076463699341 + }, + "size": { + "x": 0.24256515502929688, + "y": 1.5801782608032227, + "z": 0.8658576011657715 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 7.0, + "y": 0.9009997844696045, + "z": 2.700000047683716 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 7.0, + "y": 1.5759997367858887, + "z": 2.700000047683716 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|1|7", + "door|2|7" + ], + "different_object": [ + "Painting|2|6", + "Desk|2|2", + "Box|2|4", + "Desk|2|2___1", + "Painting|2|7", + "Desktop|surface|2|28", + "window|2|0" + ] +} \ No newline at end of file diff --git a/train/train1202/2/0_depth_npy.npy b/train/train1202/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..db801c51369c1cea3cfc7be0f0914578ac0ee89a --- /dev/null +++ b/train/train1202/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a3a3dc9a1b36d5f06a1f2db68444d12c253ddd10114d67f95455c48b9c037cc +size 3145856 diff --git a/train/train1202/2/0_semantic_sensor_npy.npy b/train/train1202/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6ffcfd1cb1e071308752e5fb11251e4077c4e4b0 --- /dev/null +++ b/train/train1202/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:778b524bcaa173d9b0389f520b691b9d69eac1e3d30481e103a56b91de370d4b +size 2359424 diff --git a/train/train1202/2/1.json b/train/train1202/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..3f3661995e578a1d97a9d50d7bb47923635597ef --- /dev/null +++ b/train/train1202/2/1.json @@ -0,0 +1,2203 @@ +{ + "object": [ + { + "objectId": "Newspaper|surface|7|20", + "object_info": { + "name": "Newspaper|surface|7|20", + "position": { + "x": 5.598855972290039, + "y": 0.7074404358863831, + "z": 10.567544937133789 + }, + "rotation": { + "x": 359.0369873046875, + "y": 270.00341796875, + "z": 5.1767339755315334e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.20000000298023224, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 8.151556968688965, + "objectType": "Newspaper", + "objectId": "Newspaper|surface|7|20", + "assetId": "Newspaper_5", + "parentReceptacles": [ + "DiningTable|7|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.69696044921875, + 0.7328788638114929, + 10.755050659179688 + ], + [ + 5.69696044921875, + 0.7328788638114929, + 10.38003921508789 + ], + [ + 5.69696044921875, + 0.7026371359825134, + 10.755050659179688 + ], + [ + 5.69696044921875, + 0.7026371359825134, + 10.38003921508789 + ], + [ + 5.500042915344238, + 0.7328788638114929, + 10.755050659179688 + ], + [ + 5.500042915344238, + 0.7328788638114929, + 10.38003921508789 + ], + [ + 5.500042915344238, + 0.7026371359825134, + 10.755050659179688 + ], + [ + 5.500042915344238, + 0.7026371359825134, + 10.38003921508789 + ] + ], + "center": { + "x": 5.598501682281494, + "y": 0.7177579998970032, + "z": 10.567544937133789 + }, + "size": { + "x": 0.19691753387451172, + "y": 0.030241727828979492, + "z": 0.3750114440917969 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.499556541442871, + 0.7026458382606506, + 10.755051612854004 + ], + [ + 5.4995341300964355, + 0.702645480632782, + 10.380049705505371 + ], + [ + 5.696882724761963, + 0.6993282437324524, + 10.380038261413574 + ], + [ + 5.696905136108398, + 0.6993285417556763, + 10.755040168762207 + ], + [ + 5.500120162963867, + 0.7361878156661987, + 10.755051612854004 + ], + [ + 5.500097751617432, + 0.7361874580383301, + 10.380049705505371 + ], + [ + 5.697446346282959, + 0.7328702211380005, + 10.380038261413574 + ], + [ + 5.6974687576293945, + 0.7328705787658691, + 10.755040168762207 + ] + ] + } + } + }, + { + "objectId": "door|1|7", + "object_info": { + "name": "door|1|7", + "position": { + "x": 8.794837951660156, + "y": -0.0006053447723388672, + "z": 7.41908073425293 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 5.402925968170166, + "objectType": "Doorway", + "objectId": "door|1|7", + "assetId": "Doorway_Double_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.882314682006836, + 2.1302273273468018, + 7.4212846755981445 + ], + [ + 8.882314682006836, + 2.1302273273468018, + 5.4243621826171875 + ], + [ + 8.882314682006836, + 4.76837158203125e-07, + 7.4212846755981445 + ], + [ + 8.882314682006836, + 4.76837158203125e-07, + 5.4243621826171875 + ], + [ + 8.709684371948242, + 2.1302273273468018, + 7.4212846755981445 + ], + [ + 8.709684371948242, + 2.1302273273468018, + 5.4243621826171875 + ], + [ + 8.709684371948242, + 4.76837158203125e-07, + 7.4212846755981445 + ], + [ + 8.709684371948242, + 4.76837158203125e-07, + 5.4243621826171875 + ] + ], + "center": { + "x": 8.795999526977539, + "y": 1.06511390209198, + "z": 6.422823429107666 + }, + "size": { + "x": 0.17263031005859375, + "y": 2.1302268505096436, + "z": 1.996922492980957 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DogBed|7|1", + "object_info": { + "name": "DogBed|7|1", + "position": { + "x": 6.7530293464660645, + "y": 0.003948092460632324, + "z": 8.802528381347656 + }, + "rotation": { + "x": 0.00011883115803357214, + "y": 180.0, + "z": -0.00013289888738654554 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.9800000190734863, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": [], + "distance": 6.366048812866211, + "objectType": "DogBed", + "objectId": "DogBed|7|1", + "assetId": "Dog_Bed_2_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.245218276977539, + 0.3159509301185608, + 9.222332000732422 + ], + [ + 7.245218276977539, + 0.3159509301185608, + 8.387552261352539 + ], + [ + 7.245218276977539, + -1.6689300537109375e-06, + 9.222332000732422 + ], + [ + 7.245218276977539, + -1.6689300537109375e-06, + 8.387552261352539 + ], + [ + 6.252839088439941, + 0.3159509301185608, + 9.222332000732422 + ], + [ + 6.252839088439941, + 0.3159509301185608, + 8.387552261352539 + ], + [ + 6.252839088439941, + -1.6689300537109375e-06, + 9.222332000732422 + ], + [ + 6.252839088439941, + -1.6689300537109375e-06, + 8.387552261352539 + ] + ], + "center": { + "x": 6.74902868270874, + "y": 0.15797463059425354, + "z": 8.80494213104248 + }, + "size": { + "x": 0.9923791885375977, + "y": 0.3159525990486145, + "z": 0.8347797393798828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.2528395652771, + -3.511086106300354e-06, + 8.387552261352539 + ], + [ + 7.245218753814697, + -1.2088567018508911e-06, + 8.387552261352539 + ], + [ + 7.2452192306518555, + 5.224719643592834e-07, + 9.222332000732422 + ], + [ + 6.252840042114258, + -1.7797574400901794e-06, + 9.222332954406738 + ], + [ + 6.252839088439941, + 0.3159487247467041, + 8.387551307678223 + ], + [ + 7.245218276977539, + 0.31595101952552795, + 8.387551307678223 + ], + [ + 7.245218276977539, + 0.31595274806022644, + 9.222332000732422 + ], + [ + 6.252839088439941, + 0.3159504532814026, + 9.222332000732422 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___9", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 4.772314548492432, + "y": 0.8680540323257446, + "z": 3.9597089290618896 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.4582667350769043, + "objectType": "Drawer", + "objectId": "Dresser|2|1___9", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.013865947723389, + 0.9560860395431519, + 4.35503625869751 + ], + [ + 5.013865947723389, + 0.9560860395431519, + 3.5643815994262695 + ], + [ + 5.013865947723389, + 0.7800220251083374, + 4.35503625869751 + ], + [ + 5.013865947723389, + 0.7800220251083374, + 3.5643815994262695 + ], + [ + 4.512638568878174, + 0.9560860395431519, + 4.35503625869751 + ], + [ + 4.512638568878174, + 0.9560860395431519, + 3.5643815994262695 + ], + [ + 4.512638568878174, + 0.7800220251083374, + 4.35503625869751 + ], + [ + 4.512638568878174, + 0.7800220251083374, + 3.5643815994262695 + ] + ], + "center": { + "x": 4.763252258300781, + "y": 0.8680540323257446, + "z": 3.9597089290618896 + }, + "size": { + "x": 0.5012273788452148, + "y": 0.17606401443481445, + "z": 0.7906546592712402 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "window|7|0", + "object_info": { + "name": "window|7|0", + "position": { + "x": 6.331669330596924, + "y": 0.39617919921875, + "z": 10.994998931884766 + }, + "rotation": { + "x": -0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 8.52026081085205, + "objectType": "Window", + "objectId": "window|7|0", + "assetId": "Window_Fixed_60x72", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 7.859400749206543, + 2.22674298286438, + 11.034826278686523 + ], + [ + 7.859400749206543, + 2.22674298286438, + 10.95517349243164 + ], + [ + 7.859400749206543, + 0.39325857162475586, + 11.034826278686523 + ], + [ + 7.859400749206543, + 0.39325857162475586, + 10.95517349243164 + ], + [ + 6.327938079833984, + 2.22674298286438, + 11.034826278686523 + ], + [ + 6.327938079833984, + 2.22674298286438, + 10.95517349243164 + ], + [ + 6.327938079833984, + 0.39325857162475586, + 11.034826278686523 + ], + [ + 6.327938079833984, + 0.39325857162475586, + 10.95517349243164 + ] + ], + "center": { + "x": 7.093669414520264, + "y": 1.3100007772445679, + "z": 10.994999885559082 + }, + "size": { + "x": 1.5314626693725586, + "y": 1.833484411239624, + "z": 0.07965278625488281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|7", + "object_info": { + "name": "door|2|7", + "position": { + "x": 8.431601524353027, + "y": -0.0006053447723388672, + "z": 4.399161338806152 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.6921160221099854, + "objectType": "Doorway", + "objectId": "door|2|7", + "assetId": "Doorway_Double_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.440450668334961, + 2.1302268505096436, + 4.459325790405273 + ], + [ + 8.440450668334961, + 2.1302268505096436, + 3.481687068939209 + ], + [ + 8.440450668334961, + 4.76837158203125e-07, + 4.459325790405273 + ], + [ + 8.440450668334961, + 4.76837158203125e-07, + 3.481687068939209 + ], + [ + 6.436883926391602, + 2.1302268505096436, + 4.459325790405273 + ], + [ + 6.436883926391602, + 2.1302268505096436, + 3.481687068939209 + ], + [ + 6.436883926391602, + 4.76837158203125e-07, + 4.459325790405273 + ], + [ + 6.436883926391602, + 4.76837158203125e-07, + 3.481687068939209 + ] + ], + "center": { + "x": 7.438667297363281, + "y": 1.0651136636734009, + "z": 3.970506429672241 + }, + "size": { + "x": 2.0035667419433594, + "y": 2.1302263736724854, + "z": 0.9776387214660645 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "DiningTable|7|0", + "object_info": { + "name": "DiningTable|7|0", + "position": { + "x": 5.59867525100708, + "y": 0.0008620619773864746, + "z": 10.447343826293945 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Bowl|surface|7|22", + "KeyChain|surface|7|25", + "Newspaper|surface|7|20", + "Pen|surface|7|21", + "CreditCard|surface|7|19" + ], + "distance": 8.080598831176758, + "objectType": "DiningTable", + "objectId": "DiningTable|7|0", + "assetId": "RoboTHOR_dining_table_liatorp", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.121332168579102, + 0.7026374936103821, + 10.969999313354492 + ], + [ + 6.121332168579102, + 0.7026374936103821, + 9.924688339233398 + ], + [ + 6.121332168579102, + 8.285045623779297e-06, + 10.969999313354492 + ], + [ + 6.121332168579102, + 8.285045623779297e-06, + 9.924688339233398 + ], + [ + 5.076019287109375, + 0.7026374936103821, + 10.969999313354492 + ], + [ + 5.076019287109375, + 0.7026374936103821, + 9.924688339233398 + ], + [ + 5.076019287109375, + 8.285045623779297e-06, + 10.969999313354492 + ], + [ + 5.076019287109375, + 8.285045623779297e-06, + 9.924688339233398 + ] + ], + "center": { + "x": 5.598675727844238, + "y": 0.35132288932800293, + "z": 10.447343826293945 + }, + "size": { + "x": 1.0453128814697266, + "y": 0.7026292085647583, + "z": 1.0453109741210938 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.076019287109375, + 8.52346420288086e-06, + 9.924688339233398 + ], + [ + 6.121331214904785, + 8.52346420288086e-06, + 9.924687385559082 + ], + [ + 6.121331214904785, + 8.52346420288086e-06, + 10.969999313354492 + ], + [ + 5.076019287109375, + 8.52346420288086e-06, + 10.970000267028809 + ], + [ + 5.076019287109375, + 0.7026374936103821, + 9.924688339233398 + ], + [ + 6.121331214904785, + 0.7026374936103821, + 9.924687385559082 + ], + [ + 6.121331214904785, + 0.7026374936103821, + 10.969999313354492 + ], + [ + 5.076019287109375, + 0.7026374936103821, + 10.970000267028809 + ] + ] + } + } + }, + { + "objectId": "Painting|2|8", + "object_info": { + "name": "Painting|2|8", + "position": { + "x": 5.138890266418457, + "y": 1.6972920894622803, + "z": 4.396313190460205 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.6126155853271484, + "objectType": "Painting", + "objectId": "Painting|2|8", + "assetId": "Wall_Decor_Painting_6", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.53609037399292, + 1.9981135129928589, + 4.380336761474609 + ], + [ + 5.53609037399292, + 1.9981135129928589, + 4.372962951660156 + ], + [ + 5.53609037399292, + 1.3967303037643433, + 4.380336761474609 + ], + [ + 5.53609037399292, + 1.3967303037643433, + 4.372962951660156 + ], + [ + 4.7386956214904785, + 1.9981135129928589, + 4.380336761474609 + ], + [ + 4.7386956214904785, + 1.9981135129928589, + 4.372962951660156 + ], + [ + 4.7386956214904785, + 1.3967303037643433, + 4.380336761474609 + ], + [ + 4.7386956214904785, + 1.3967303037643433, + 4.372962951660156 + ] + ], + "center": { + "x": 5.137392997741699, + "y": 1.697421908378601, + "z": 4.376649856567383 + }, + "size": { + "x": 0.7973947525024414, + "y": 0.6013832092285156, + "z": 0.007373809814453125 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|7|4", + "object_info": { + "name": "Painting|7|4", + "position": { + "x": 5.375324726104736, + "y": 1.5162529945373535, + "z": 10.990004539489746 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Wood" + ], + "receptacleObjectIds": null, + "distance": 8.622554779052734, + "objectType": "Painting", + "objectId": "Painting|7|4", + "assetId": "Wall_Decor_Photo_1V", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.638869762420654, + 1.7132796049118042, + 10.989999771118164 + ], + [ + 5.638869762420654, + 1.7132796049118042, + 10.958259582519531 + ], + [ + 5.638869762420654, + 1.3192263841629028, + 10.989999771118164 + ], + [ + 5.638869762420654, + 1.3192263841629028, + 10.958259582519531 + ], + [ + 5.111779689788818, + 1.7132796049118042, + 10.989999771118164 + ], + [ + 5.111779689788818, + 1.7132796049118042, + 10.958259582519531 + ], + [ + 5.111779689788818, + 1.3192263841629028, + 10.989999771118164 + ], + [ + 5.111779689788818, + 1.3192263841629028, + 10.958259582519531 + ] + ], + "center": { + "x": 5.375324726104736, + "y": 1.5162529945373535, + "z": 10.974129676818848 + }, + "size": { + "x": 0.5270900726318359, + "y": 0.39405322074890137, + "z": 0.03174018859863281 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Bowl|surface|7|22", + "object_info": { + "name": "Bowl|surface|7|22", + "position": { + "x": 5.813253879547119, + "y": 0.7030559182167053, + "z": 10.32107925415039 + }, + "rotation": { + "x": 2.747240796452388e-05, + "y": 44.99990463256836, + "z": -4.9083766498370096e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": true, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.4699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 7.879464149475098, + "objectType": "Bowl", + "objectId": "Bowl|surface|7|22", + "assetId": "Bowl_10", + "parentReceptacles": [ + "DiningTable|7|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.893139839172363, + 0.7811586856842041, + 10.398330688476562 + ], + [ + 5.893139839172363, + 0.7811586856842041, + 10.242218017578125 + ], + [ + 5.893139839172363, + 0.7026374340057373, + 10.398330688476562 + ], + [ + 5.893139839172363, + 0.7026374340057373, + 10.242218017578125 + ], + [ + 5.7341203689575195, + 0.7811586856842041, + 10.398330688476562 + ], + [ + 5.7341203689575195, + 0.7811586856842041, + 10.242218017578125 + ], + [ + 5.7341203689575195, + 0.7026374340057373, + 10.398330688476562 + ], + [ + 5.7341203689575195, + 0.7026374340057373, + 10.242218017578125 + ] + ], + "center": { + "x": 5.813630104064941, + "y": 0.7418980598449707, + "z": 10.320274353027344 + }, + "size": { + "x": 0.15901947021484375, + "y": 0.0785212516784668, + "z": 0.1561126708984375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.92354679107666, + 0.7026369571685791, + 10.321499824523926 + ], + [ + 5.813985347747803, + 0.7026371359825134, + 10.431060791015625 + ], + [ + 5.702919006347656, + 0.7026371955871582, + 10.31999397277832 + ], + [ + 5.812480449676514, + 0.7026370763778687, + 10.210433006286621 + ], + [ + 5.923547267913818, + 0.7811588644981384, + 10.321499824523926 + ], + [ + 5.813985824584961, + 0.781158983707428, + 10.431060791015625 + ], + [ + 5.702919006347656, + 0.7811590433120728, + 10.31999397277832 + ], + [ + 5.812480449676514, + 0.7811589241027832, + 10.210433006286621 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___5", + "object_info": { + "name": "Drawer (6)", + "position": { + "x": 4.772895812988281, + "y": 0.4862332046031952, + "z": 3.9597089290618896 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.492332696914673, + "objectType": "Drawer", + "objectId": "Dresser|2|1___5", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.014693260192871, + 0.5837735533714294, + 4.356569290161133 + ], + [ + 5.014693260192871, + 0.5837735533714294, + 3.5628485679626465 + ], + [ + 5.014693260192871, + 0.3909764885902405, + 4.356569290161133 + ], + [ + 5.014693260192871, + 0.3909764885902405, + 3.5628485679626465 + ], + [ + 4.513989448547363, + 0.5837735533714294, + 4.356569290161133 + ], + [ + 4.513989448547363, + 0.5837735533714294, + 3.5628485679626465 + ], + [ + 4.513989448547363, + 0.3909764885902405, + 4.356569290161133 + ], + [ + 4.513989448547363, + 0.3909764885902405, + 3.5628485679626465 + ] + ], + "center": { + "x": 4.764341354370117, + "y": 0.48737502098083496, + "z": 3.9597089290618896 + }, + "size": { + "x": 0.5007038116455078, + "y": 0.19279706478118896, + "z": 0.7937207221984863 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___1", + "object_info": { + "name": "Drawer (10)", + "position": { + "x": 4.773125648498535, + "y": 0.10441219806671143, + "z": 3.9597089290618896 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.583279609680176, + "objectType": "Drawer", + "objectId": "Dresser|2|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.014677047729492, + 0.19244426488876343, + 4.35503625869751 + ], + [ + 5.014677047729492, + 0.19244426488876343, + 3.5643820762634277 + ], + [ + 5.014677047729492, + 0.016380131244659424, + 4.35503625869751 + ], + [ + 5.014677047729492, + 0.016380131244659424, + 3.5643820762634277 + ], + [ + 4.513449668884277, + 0.19244426488876343, + 4.35503625869751 + ], + [ + 4.513449668884277, + 0.19244426488876343, + 3.5643820762634277 + ], + [ + 4.513449668884277, + 0.016380131244659424, + 4.35503625869751 + ], + [ + 4.513449668884277, + 0.016380131244659424, + 3.5643820762634277 + ] + ], + "center": { + "x": 4.764063358306885, + "y": 0.10441219806671143, + "z": 3.9597091674804688 + }, + "size": { + "x": 0.5012273788452148, + "y": 0.176064133644104, + "z": 0.790654182434082 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___7", + "object_info": { + "name": "Drawer (4)", + "position": { + "x": 4.772781848907471, + "y": 0.6805710196495056, + "z": 3.9597089290618896 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.4675352573394775, + "objectType": "Drawer", + "objectId": "Dresser|2|1___7", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.014579772949219, + 0.778111457824707, + 4.356569290161133 + ], + [ + 5.014579772949219, + 0.778111457824707, + 3.5628485679626465 + ], + [ + 5.014579772949219, + 0.5853142738342285, + 4.356569290161133 + ], + [ + 5.014579772949219, + 0.5853142738342285, + 3.5628485679626465 + ], + [ + 4.513875961303711, + 0.778111457824707, + 4.356569290161133 + ], + [ + 4.513875961303711, + 0.778111457824707, + 3.5628485679626465 + ], + [ + 4.513875961303711, + 0.5853142738342285, + 4.356569290161133 + ], + [ + 4.513875961303711, + 0.5853142738342285, + 3.5628485679626465 + ] + ], + "center": { + "x": 4.764227867126465, + "y": 0.6817128658294678, + "z": 3.9597089290618896 + }, + "size": { + "x": 0.5007038116455078, + "y": 0.19279718399047852, + "z": 0.7937207221984863 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 4.728116512298584, + "y": 0.0006633996963500977, + "z": 3.5628998279571533 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Statue|surface|2|34", + "Vase|surface|2|35", + "Statue|surface|2|32", + "Statue|surface|2|33" + ], + "distance": 2.455274820327759, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "Dresser_315_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.017060279846191, + 0.9697672128677368, + 4.372999668121338 + ], + [ + 5.017060279846191, + 0.9697672128677368, + 2.7599868774414062 + ], + [ + 5.017060279846191, + 4.6193599700927734e-06, + 4.372999668121338 + ], + [ + 5.017060279846191, + 4.6193599700927734e-06, + 2.7599868774414062 + ], + [ + 4.422999382019043, + 0.9697672128677368, + 4.372999668121338 + ], + [ + 4.422999382019043, + 0.9697672128677368, + 2.7599868774414062 + ], + [ + 4.422999382019043, + 4.6193599700927734e-06, + 4.372999668121338 + ], + [ + 4.422999382019043, + 4.6193599700927734e-06, + 2.7599868774414062 + ] + ], + "center": { + "x": 4.720029830932617, + "y": 0.48488590121269226, + "z": 3.566493272781372 + }, + "size": { + "x": 0.5940608978271484, + "y": 0.9697625637054443, + "z": 1.6130127906799316 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.01706075668335, + 4.649162292480469e-06, + 2.7599871158599854 + ], + [ + 5.017061233520508, + 4.649162292480469e-06, + 4.372999668121338 + ], + [ + 4.422999858856201, + 4.649162292480469e-06, + 4.372999668121338 + ], + [ + 4.422999382019043, + 4.649162292480469e-06, + 2.7599873542785645 + ], + [ + 5.01706075668335, + 0.9697670936584473, + 2.7599871158599854 + ], + [ + 5.017061233520508, + 0.9697670936584473, + 4.372999668121338 + ], + [ + 4.422999858856201, + 0.9697670936584473, + 4.372999668121338 + ], + [ + 4.422999382019043, + 0.9697670936584473, + 2.7599873542785645 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___3", + "object_info": { + "name": "Drawer (8)", + "position": { + "x": 4.772985458374023, + "y": 0.29189541935920715, + "z": 3.9597089290618896 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CellPhone|surface|2|39" + ], + "distance": 2.5318658351898193, + "objectType": "Drawer", + "objectId": "Dresser|2|1___3", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.013589859008789, + 0.3873800039291382, + 4.356757164001465 + ], + [ + 5.013589859008789, + 0.3873800039291382, + 3.5626602172851562 + ], + [ + 5.013589859008789, + 0.19641083478927612, + 4.356757164001465 + ], + [ + 5.013589859008789, + 0.19641083478927612, + 3.5626602172851562 + ], + [ + 4.514226913452148, + 0.3873800039291382, + 4.356757164001465 + ], + [ + 4.514226913452148, + 0.3873800039291382, + 3.5626602172851562 + ], + [ + 4.514226913452148, + 0.19641083478927612, + 4.356757164001465 + ], + [ + 4.514226913452148, + 0.19641083478927612, + 3.5626602172851562 + ] + ], + "center": { + "x": 4.763908386230469, + "y": 0.29189541935920715, + "z": 3.9597086906433105 + }, + "size": { + "x": 0.4993629455566406, + "y": 0.19096916913986206, + "z": 0.7940969467163086 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pen|surface|7|21", + "object_info": { + "name": "Pen|surface|7|21", + "position": { + "x": 5.358278751373291, + "y": 0.7082823514938354, + "z": 10.384843826293945 + }, + "rotation": { + "x": 2.5193796318490058e-05, + "y": 180.0, + "z": 0.011068319901823997 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 8.009044647216797, + "objectType": "Pen", + "objectId": "Pen|surface|7|21", + "assetId": "Pen_2", + "parentReceptacles": [ + "DiningTable|7|0" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.363924026489258, + 0.7139272689819336, + 10.478282928466797 + ], + [ + 5.363924026489258, + 0.7139272689819336, + 10.278444290161133 + ], + [ + 5.363924026489258, + 0.7026374340057373, + 10.478282928466797 + ], + [ + 5.363924026489258, + 0.7026374340057373, + 10.278444290161133 + ], + [ + 5.352633476257324, + 0.7139272689819336, + 10.478282928466797 + ], + [ + 5.352633476257324, + 0.7139272689819336, + 10.278444290161133 + ], + [ + 5.352633476257324, + 0.7026374340057373, + 10.478282928466797 + ], + [ + 5.352633476257324, + 0.7026374340057373, + 10.278444290161133 + ] + ], + "center": { + "x": 5.358278751373291, + "y": 0.7082823514938354, + "z": 10.378363609313965 + }, + "size": { + "x": 0.011290550231933594, + "y": 0.011289834976196289, + "z": 0.19983863830566406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.352632522583008, + 0.702638566493988, + 10.27844524383545 + ], + [ + 5.363922595977783, + 0.7026363611221313, + 10.27844524383545 + ], + [ + 5.363922595977783, + 0.7026364207267761, + 10.478282928466797 + ], + [ + 5.352632522583008, + 0.7026386260986328, + 10.478282928466797 + ], + [ + 5.352634906768799, + 0.71392822265625, + 10.27844524383545 + ], + [ + 5.363924980163574, + 0.7139260768890381, + 10.27844524383545 + ], + [ + 5.363924980163574, + 0.7139261364936829, + 10.478282928466797 + ], + [ + 5.352634906768799, + 0.7139283418655396, + 10.478282928466797 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___0", + "object_info": { + "name": "Drawer (9)", + "position": { + "x": 4.773125648498535, + "y": 0.10441219806671143, + "z": 3.165760040283203 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 2.2328951358795166, + "objectType": "Drawer", + "objectId": "Dresser|2|1___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.014677047729492, + 0.19244426488876343, + 3.561087131500244 + ], + [ + 5.014677047729492, + 0.19244426488876343, + 2.770432949066162 + ], + [ + 5.014677047729492, + 0.016380131244659424, + 3.561087131500244 + ], + [ + 5.014677047729492, + 0.016380131244659424, + 2.770432949066162 + ], + [ + 4.513449668884277, + 0.19244426488876343, + 3.561087131500244 + ], + [ + 4.513449668884277, + 0.19244426488876343, + 2.770432949066162 + ], + [ + 4.513449668884277, + 0.016380131244659424, + 3.561087131500244 + ], + [ + 4.513449668884277, + 0.016380131244659424, + 2.770432949066162 + ] + ], + "center": { + "x": 4.764063358306885, + "y": 0.10441219806671143, + "z": 3.165760040283203 + }, + "size": { + "x": 0.5012273788452148, + "y": 0.176064133644104, + "z": 0.790654182434082 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 7.0, + "y": 0.9009997844696045, + "z": 2.700000047683716 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 7.0, + "y": 1.5759997367858887, + "z": 2.700000047683716 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|1|7", + "door|2|7" + ], + "different_object": [ + "Dresser|2|1___9", + "Dresser|2|1___5", + "Painting|7|4", + "Dresser|2|1", + "Dresser|2|1___3", + "DogBed|7|1", + "Newspaper|surface|7|20", + "Dresser|2|1___1", + "Bowl|surface|7|22", + "Painting|2|8", + "DiningTable|7|0", + "Pen|surface|7|21", + "Dresser|2|1___0", + "window|7|0", + "Dresser|2|1___7" + ] +} \ No newline at end of file diff --git a/train/train1202/2/1_depth_npy.npy b/train/train1202/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..6ee1a20b408f55f0cf0b8eacc675ec284178095d --- /dev/null +++ b/train/train1202/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f90eb1ada9acc91c1c83034dd26d6ff7500345d05005e7d6c9414d625b8dda36 +size 3145856 diff --git a/train/train1202/2/1_semantic_sensor_npy.npy b/train/train1202/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..ea7ededc1f2f438ecba83378143cb78557b84a91 --- /dev/null +++ b/train/train1202/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f68827bfa1d7c3739f939453f0cb50c248b28baf4f4163898957eb3155da7e5b +size 2359424 diff --git a/train/train1202/2/depth_0.png b/train/train1202/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..19d6b70d4b86d170c2fa70cf2b2640ced0b108bf Binary files /dev/null and b/train/train1202/2/depth_0.png differ diff --git a/train/train1202/2/depth_1.png b/train/train1202/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..14afeddfc63a16a46637a2142f800373d2176f5c Binary files /dev/null and b/train/train1202/2/depth_1.png differ diff --git a/train/train1202/2/mask_questions.jsonl b/train/train1202/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train1202/2/rgb_0.png b/train/train1202/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..98cb3e998453a07405021f1e0fcce216d3b3fae3 --- /dev/null +++ b/train/train1202/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36b74db72b349d9f72ef13e77801549a45489a2d3341ec17d960e838be1fab8b +size 819549 diff --git a/train/train1202/2/rgb_1.png b/train/train1202/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..17c067874d67dc6e941592b869b3e9364f8a58f8 --- /dev/null +++ b/train/train1202/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b789733f9ce501bfa9699140ed2801051b975e3d901495040253c23e38440e15 +size 785591 diff --git a/train/train1202/2/semantic_0.png b/train/train1202/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..97a83008d8e19d52e9564c9b46d38ece2026b735 Binary files /dev/null and b/train/train1202/2/semantic_0.png differ diff --git a/train/train1202/2/semantic_1.png b/train/train1202/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..5aee77dcbdff6af95970149c901f610a1d1419cb Binary files /dev/null and b/train/train1202/2/semantic_1.png differ diff --git a/train/train1202/3/0.json b/train/train1202/3/0.json new file mode 100644 index 0000000000000000000000000000000000000000..f7a8b0017121eee908e6ccb105a8446474c24ddf --- /dev/null +++ b/train/train1202/3/0.json @@ -0,0 +1,634 @@ +{ + "object": [ + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2" + ] +} \ No newline at end of file diff --git a/train/train1202/3/0_depth_npy.npy b/train/train1202/3/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..61ed6212f16af9cd25273c1a80e5059f87151f46 --- /dev/null +++ b/train/train1202/3/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f59aea51b16c39033839b911e43b41a5c13a617b384ef8d43521284eaa84fa9 +size 3145856 diff --git a/train/train1202/3/0_semantic_sensor_npy.npy b/train/train1202/3/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..d10acd8cc71b9742302d84b9118ce995011a3366 --- /dev/null +++ b/train/train1202/3/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43030abbe24ca2737b838fdaf4b9b4a5d8c441fec5386c69d7bab55125b20b30 +size 2359424 diff --git a/train/train1202/3/1.json b/train/train1202/3/1.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ee3ae4ad4bd4efee3979856b1c983f15e31516 --- /dev/null +++ b/train/train1202/3/1.json @@ -0,0 +1,2733 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___2", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 3.606998920440674, + "y": 0.20109392702579498, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.1530375480651855, + "objectType": "Drawer", + "objectId": "Dresser|4|3___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.10646450519561768, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.29416608810424805, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.10646450519561768, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.20031529664993286, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Dresser|4|3___2", + "CreditCard|surface|4|21", + "Vase|surface|4|24", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train1202/3/1_depth_npy.npy b/train/train1202/3/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c7f0ed435248ac29e19a6d08903a38a92e85e10e --- /dev/null +++ b/train/train1202/3/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41653694ff43bda7aeb1b5e782d44c264a56f65cb46fc196d04dcdb0fcb94b3a +size 3145856 diff --git a/train/train1202/3/1_semantic_sensor_npy.npy b/train/train1202/3/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..9eca891343d758ecd9650a2df7fd41d85315f931 --- /dev/null +++ b/train/train1202/3/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0903989acf87dc1ea27c974a6395a9d85ca7a3a021e0b86bfd904ea090818066 +size 2359424 diff --git a/train/train1202/3/depth_0.png b/train/train1202/3/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6434bd9b15dfa0475b46915937bc0eb5cf54b9f4 Binary files /dev/null and b/train/train1202/3/depth_0.png differ diff --git a/train/train1202/3/depth_1.png b/train/train1202/3/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..4ddc76db69fc926a2d9f54f85772c2ec83a995d8 Binary files /dev/null and b/train/train1202/3/depth_1.png differ diff --git a/train/train1202/3/mask_questions.jsonl b/train/train1202/3/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train1202/3/questions_direction.jsonl b/train/train1202/3/questions_direction.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4457c9253bf93c8015366c655ec71ec9a962b86 --- /dev/null +++ b/train/train1202/3/questions_direction.jsonl @@ -0,0 +1,6 @@ +{"id": 18785, "folder_dir": "train1202/3", "pair_name": "FloorLamp-Book", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Book in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Book", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train1202/3/rgb_0.png", "image_2": "train1202/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18786, "folder_dir": "train1202/3", "pair_name": "FloorLamp-Chair", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Chair in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Chair", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train1202/3/rgb_0.png", "image_2": "train1202/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18787, "folder_dir": "train1202/3", "pair_name": "FloorLamp-Television", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of FloorLamp. Where is the centroid position of Television in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "B", "src_object": "FloorLamp", "tgt_object": "Television", "src_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "tgt_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train1202/3/rgb_0.png", "image_2": "train1202/3/rgb_1.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18788, "folder_dir": "train1202/3", "pair_name": "Book-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Book. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Book", "tgt_object": "FloorLamp", "src_com": {"x": 4.434380531311035, "y": 0.28968751430511475, "z": 6.330196380615234}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train1202/3/rgb_1.png", "image_2": "train1202/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18789, "folder_dir": "train1202/3", "pair_name": "Chair-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Chair. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Chair", "tgt_object": "FloorLamp", "src_com": {"x": 5.3608245849609375, "y": 0.4016827344894409, "z": 4.779112815856934}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train1202/3/rgb_1.png", "image_2": "train1202/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} +{"id": 18790, "folder_dir": "train1202/3", "pair_name": "Television-FloorLamp", "query": "Imagine yourself standing at the viewpoint of the first image, facing towards the centroid position of Television. Where is the centroid position of FloorLamp in the seconde image located from your perspective?\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. left front\nB. left rear\nC. right front\nD. right rear\n", "answer": "D", "src_object": "Television", "tgt_object": "FloorLamp", "src_com": {"x": 4.5883378982543945, "y": 0.8531879782676697, "z": 6.331061840057373}, "tgt_com": {"x": 6.263580322265625, "y": 1.0368435382843018, "z": 0.9614665508270264}, "agent_pos": {"x": 5.199999809265137, "y": 1.5759997367858887, "z": 1.2999999523162842}, "image_1": "train1202/3/rgb_1.png", "image_2": "train1202/3/rgb_0.png", "options": [{"text": "left front", "label": "A"}, {"text": "left rear", "label": "B"}, {"text": "right front", "label": "C"}, {"text": "right rear", "label": "D"}]} diff --git a/train/train1202/3/rgb_0.png b/train/train1202/3/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..77e03bb217115bce1b62cc6099fa671a854c825d --- /dev/null +++ b/train/train1202/3/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f96d4a4a4b47fea1ad31ba4b43f2aa7f1568be4be64b940bea230b323c2772eb +size 193723 diff --git a/train/train1202/3/rgb_1.png b/train/train1202/3/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..cdc80e43beafb5fc2178f5b12345388a909cef3b --- /dev/null +++ b/train/train1202/3/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff8dec8b941bd2fe94c576ccd752f4b0e026ff16ff5368cb2b7b802aaace14a1 +size 244074 diff --git a/train/train1202/3/semantic_0.png b/train/train1202/3/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b1408724fe5271baa427d242fca9638154ae2e38 Binary files /dev/null and b/train/train1202/3/semantic_0.png differ diff --git a/train/train1202/3/semantic_1.png b/train/train1202/3/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..955221a1931a65d9f4f15b6f02b69aa9d401dd18 Binary files /dev/null and b/train/train1202/3/semantic_1.png differ diff --git a/train/train1202/4/0.json b/train/train1202/4/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9079afcc75414ddc2de84ae8a393c76c597abb12 --- /dev/null +++ b/train/train1202/4/0.json @@ -0,0 +1,2622 @@ +{ + "object": [ + { + "objectId": "Book|surface|4|22", + "object_info": { + "name": "Book|surface|4|22", + "position": { + "x": 4.434379577636719, + "y": 0.27263882756233215, + "z": 6.329527378082275 + }, + "rotation": { + "x": 0.002365913474932313, + "y": 90.0003890991211, + "z": 0.25729310512542725 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 5.127967834472656, + "objectType": "Book", + "objectId": "Book|surface|4|22", + "assetId": "Book_20", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.586941719055176, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.586941719055176, + 0.2722126245498657, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.30716240406036377, + 6.2023820877075195 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.458010673522949 + ], + [ + 4.2818193435668945, + 0.2722126245498657, + 6.2023820877075195 + ] + ], + "center": { + "x": 4.434380531311035, + "y": 0.28968751430511475, + "z": 6.330196380615234 + }, + "size": { + "x": 0.30512237548828125, + "y": 0.03494977951049805, + "z": 0.2556285858154297 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.586939334869385, + 0.2724279761314392, + 6.202378273010254 + ], + [ + 4.586941242218018, + 0.2712807059288025, + 6.45785665512085 + ], + [ + 4.2818193435668945, + 0.2712933123111725, + 6.457858562469482 + ], + [ + 4.281817436218262, + 0.2724405825138092, + 6.202380657196045 + ], + [ + 4.586940765380859, + 0.3073573708534241, + 6.202535152435303 + ], + [ + 4.586942672729492, + 0.30621010065078735, + 6.458013534545898 + ], + [ + 4.281820774078369, + 0.30622270703315735, + 6.458015441894531 + ], + [ + 4.281818866729736, + 0.30736997723579407, + 6.202537536621094 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___1", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 3.606998920440674, + "y": 0.39762961864471436, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.130039691925049, + "objectType": "Drawer", + "objectId": "Dresser|4|3___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.30300021171569824, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4907017946243286, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.30300021171569824, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.3968510031700134, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "CellPhone|surface|4|17", + "object_info": { + "name": "CellPhone|surface|4|17", + "position": { + "x": 3.606998920440674, + "y": 0.6999126672744751, + "z": 6.400298118591309 + }, + "rotation": { + "x": 4.23526716986089e-06, + "y": 180.00010681152344, + "z": -0.0013795691775158048 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 5.279437065124512, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|4|17", + "assetId": "Cellphone_8", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.645237445831299, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.645237445831299, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.7046447992324829, + "z": 6.400298118591309 + }, + "size": { + "x": 0.07647705078125, + "y": 0.010883331298828125, + "z": 0.14582252502441406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.568760395050049, + 0.6992031335830688, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.6992049813270569, + 6.327386856079102 + ], + [ + 3.645237445831299, + 0.6992050409317017, + 6.473209381103516 + ], + [ + 3.568760633468628, + 0.6992031931877136, + 6.473209381103516 + ], + [ + 3.5687601566314697, + 0.7100846171379089, + 6.327386856079102 + ], + [ + 3.6452369689941406, + 0.710086464881897, + 6.327386856079102 + ], + [ + 3.6452372074127197, + 0.710086464881897, + 6.473209381103516 + ], + [ + 3.568760395050049, + 0.7100846171379089, + 6.473209381103516 + ] + ] + } + } + }, + { + "objectId": "Vase|surface|4|24", + "object_info": { + "name": "Vase|surface|4|24", + "position": { + "x": 4.730817794799805, + "y": 0.27228501439094543, + "z": 6.289771556854248 + }, + "rotation": { + "x": -1.976354042199091e-06, + "y": 90.0000228881836, + "z": 9.469399060435535e-07 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 5.0788726806640625, + "objectType": "Vase", + "objectId": "Vase|surface|4|24", + "assetId": "Vase_Flat_5", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.8065643310546875, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.8065643310546875, + 0.27224910259246826, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.34241700172424316, + 6.2142744064331055 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.27224910259246826, + 6.2142744064331055 + ] + ], + "center": { + "x": 4.7310686111450195, + "y": 0.3073330521583557, + "z": 6.28977108001709 + }, + "size": { + "x": 0.15099143981933594, + "y": 0.0701678991317749, + "z": 0.15099334716796875 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.806564807891846, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.2722490131855011, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.2142744064331055 + ], + [ + 4.806564807891846, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.365267753601074 + ], + [ + 4.655572891235352, + 0.3424171209335327, + 6.2142744064331055 + ] + ] + } + } + }, + { + "objectId": "TVStand|4|0|0", + "object_info": { + "name": "TVStand|4|0|0", + "position": { + "x": 4.588324069976807, + "y": 0.0009346157312393188, + "z": 6.329517364501953 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 11.0, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": [ + "Television|4|0|1" + ], + "distance": 5.161177635192871, + "objectType": "TVStand", + "objectId": "TVStand|4|0|0", + "assetId": "TV_Stand_220_1", + "parentReceptacles": [ + "Floor", + "Plate|surface|4|19" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.207240104675293, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 5.207240104675293, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 5.207240104675293, + 2.8312206268310547e-07, + 6.146122932434082 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.515999794006348 + ], + [ + 3.969435691833496, + 0.4502491354942322, + 6.146122932434082 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.515999794006348 + ], + [ + 3.969435691833496, + 2.8312206268310547e-07, + 6.146122932434082 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.22512470185756683, + "z": 6.331061363220215 + }, + "size": { + "x": 1.2378044128417969, + "y": 0.4502488374710083, + "z": 0.3698768615722656 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.14612340927124 + ], + [ + 5.207239627838135, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 2.682209014892578e-07, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.14612340927124 + ], + [ + 5.207239627838135, + 0.4502490758895874, + 6.515999794006348 + ], + [ + 3.969435930252075, + 0.4502490758895874, + 6.515999794006348 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "Chair|4|1|2", + "object_info": { + "name": "Chair|4|1|2", + "position": { + "x": 5.356987476348877, + "y": 0.0031416714191436768, + "z": 4.78104829788208 + }, + "rotation": { + "x": -0.0, + "y": 174.24070739746094, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 3.6936275959014893, + "objectType": "Chair", + "objectId": "Chair|4|1|2", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.615507125854492, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.615507125854492, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.615507125854492, + -1.0073184967041016e-05, + 4.454636573791504 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 5.103589057922363 + ], + [ + 5.106142044067383, + 0.8033755421638489, + 4.454636573791504 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 5.103589057922363 + ], + [ + 5.106142044067383, + -1.0073184967041016e-05, + 4.454636573791504 + ] + ], + "center": { + "x": 5.3608245849609375, + "y": 0.4016827344894409, + "z": 4.779112815856934 + }, + "size": { + "x": 0.5093650817871094, + "y": 0.8033856153488159, + "z": 0.6489524841308594 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.15634822845459, + -9.98377799987793e-06, + 4.451790809631348 + ], + [ + 5.61686897277832, + -9.98377799987793e-06, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + -9.98377799987793e-06, + 5.105459213256836 + ], + [ + 5.095105171203613, + -9.98377799987793e-06, + 5.059011936187744 + ], + [ + 5.15634822845459, + 0.8033754825592041, + 4.451790809631348 + ], + [ + 5.61686897277832, + 0.8033754825592041, + 4.4982380867004395 + ], + [ + 5.5556254386901855, + 0.8033754825592041, + 5.105459213256836 + ], + [ + 5.095105171203613, + 0.8033754825592041, + 5.059011936187744 + ] + ] + } + } + }, + { + "objectId": "Dresser|4|3___0", + "object_info": { + "name": "Drawer", + "position": { + "x": 3.606998920440674, + "y": 0.5816994309425354, + "z": 6.225688457489014 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 5.115259647369385, + "objectType": "Drawer", + "objectId": "Dresser|4|3___0", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.900463104248047, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.900463104248047, + 0.4870700240135193, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.6747716069221497, + 6.201271057128906 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.469209671020508 + ], + [ + 3.3125972747802734, + 0.4870700240135193, + 6.201271057128906 + ] + ], + "center": { + "x": 3.60653018951416, + "y": 0.5809208154678345, + "z": 6.335240364074707 + }, + "size": { + "x": 0.5878658294677734, + "y": 0.18770158290863037, + "z": 0.26793861389160156 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|4|3", + "object_info": { + "name": "Dresser|4|3", + "position": { + "x": 3.606998920440674, + "y": -4.786252975463867e-05, + "z": 6.362965106964111 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Watch|surface|4|16", + "CellPhone|surface|4|17" + ], + "distance": 5.316083908081055, + "objectType": "Dresser", + "objectId": "Dresser|4|3", + "assetId": "RoboTHOR_dresser_rast_v", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.917998790740967, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.917998790740967, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.917998790740967, + 3.838539123535156e-05, + 6.203625679016113 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992043256759644, + 6.203625679016113 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.838539123535156e-05, + 6.203625679016113 + ] + ], + "center": { + "x": 3.606998920440674, + "y": 0.34962135553359985, + "z": 6.36086368560791 + }, + "size": { + "x": 0.6219997406005859, + "y": 0.699165940284729, + "z": 0.31447601318359375 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.20362663269043 + ], + [ + 3.917998790740967, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 3.8564205169677734e-05, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.20362663269043 + ], + [ + 3.917998790740967, + 0.6992037892341614, + 6.518101692199707 + ], + [ + 3.295999050140381, + 0.6992037892341614, + 6.518101692199707 + ] + ] + } + } + }, + { + "objectId": "CreditCard|surface|4|21", + "object_info": { + "name": "CreditCard|surface|4|21", + "position": { + "x": 4.137941837310791, + "y": 0.27259376645088196, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.00015720646479167044, + "y": 90.0001449584961, + "z": -0.00030558553407900035 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.15470552444458, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|4|21", + "assetId": "CreditCard_3", + "parentReceptacles": [ + "TVStand|4|0|0___1", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 4.164941310882568, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.164941310882568, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673888206481934, + 6.286433696746826 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27224868535995483, + 6.286433696746826 + ] + ], + "center": { + "x": 4.137941837310791, + "y": 0.2744937837123871, + "z": 6.3295159339904785 + }, + "size": { + "x": 0.05399894714355469, + "y": 0.004490196704864502, + "z": 0.08616447448730469 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.16494083404541, + 0.27224868535995483, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.27224916219711304, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.2722492814064026, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.2722488343715668, + 6.286433696746826 + ], + [ + 4.16494083404541, + 0.2767382860183716, + 6.286433696746826 + ], + [ + 4.164941310882568, + 0.2767387330532074, + 6.372598171234131 + ], + [ + 4.110942840576172, + 0.27673888206481934, + 6.372598171234131 + ], + [ + 4.110942363739014, + 0.27673840522766113, + 6.286433696746826 + ] + ] + } + } + }, + { + "objectId": "Painting|4|6", + "object_info": { + "name": "Painting|4|6", + "position": { + "x": 6.538111209869385, + "y": 1.4183659553527832, + "z": 4.80001974105835 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 4.008447170257568, + "objectType": "Painting", + "objectId": "Painting|4|6", + "assetId": "Wall_Decor_Painting_8", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.5360002517700195, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.5360002517700195, + 1.1549901962280273, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.681741714477539, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.681741714477539, + 4.4491167068481445 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 5.152198791503906 + ], + [ + 6.518789291381836, + 1.1549901962280273, + 4.4491167068481445 + ] + ], + "center": { + "x": 6.527394771575928, + "y": 1.4183659553527832, + "z": 4.800657749176025 + }, + "size": { + "x": 0.017210960388183594, + "y": 0.5267515182495117, + "z": 0.7030820846557617 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TVStand|4|0|0___1", + "object_info": { + "name": "Shelf", + "position": { + "x": 4.588322162628174, + "y": 0.2684445381164551, + "z": 6.3295159339904785 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Watch|surface|4|20", + "Book|surface|4|22", + "KeyChain|surface|4|18", + "Vase|surface|4|24", + "CreditCard|surface|4|21" + ], + "distance": 5.121303558349609, + "objectType": "DiningTable", + "objectId": "TVStand|4|0|0___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.18937349319458, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 5.18937349319458, + 0.26823681592941284, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.3674442172050476, + 6.16431188583374 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.494719982147217 + ], + [ + 3.9872708320617676, + 0.26823681592941284, + 6.16431188583374 + ] + ], + "center": { + "x": 4.588322162628174, + "y": 0.3178405165672302, + "z": 6.3295159339904785 + }, + "size": { + "x": 1.2021026611328125, + "y": 0.09920740127563477, + "z": 0.33040809631347656 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Watch|surface|4|16", + "object_info": { + "name": "Watch|surface|4|16", + "position": { + "x": 3.6847031116485596, + "y": 0.7003282308578491, + "z": 6.288086414337158 + }, + "rotation": { + "x": 1.9947741031646729, + "y": 180.00387573242188, + "z": 1.19093656539917 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.153391361236572, + "objectType": "Watch", + "objectId": "Watch|surface|4|16", + "assetId": "Watch_2", + "parentReceptacles": [ + "Dresser|4|3", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.7239737510681152, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.7239737510681152, + 0.6990219354629517, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.7344659566879272, + 6.265624046325684 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.313935279846191 + ], + [ + 3.6450982093811035, + 0.6990219354629517, + 6.265624046325684 + ] + ], + "center": { + "x": 3.6845359802246094, + "y": 0.7167439460754395, + "z": 6.2897796630859375 + }, + "size": { + "x": 0.07887554168701172, + "y": 0.035444021224975586, + "z": 0.04831123352050781 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.644953966140747, + 0.6981589794158936, + 6.265713691711426 + ], + [ + 3.723494052886963, + 0.6965271830558777, + 6.265765190124512 + ], + [ + 3.723497152328491, + 0.6982251405715942, + 6.314515590667725 + ], + [ + 3.6449573040008545, + 0.6998568773269653, + 6.314464092254639 + ], + [ + 3.645716905593872, + 0.7348403334617615, + 6.2644362449646 + ], + [ + 3.724256992340088, + 0.7332085967063904, + 6.2644877433776855 + ], + [ + 3.724260091781616, + 0.7349065542221069, + 6.31323766708374 + ], + [ + 3.6457202434539795, + 0.736538290977478, + 6.313186168670654 + ] + ] + } + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|4|4", + "object_info": { + "name": "Painting|4|4", + "position": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.503932476043701, + "objectType": "Painting", + "objectId": "Painting|4|4", + "assetId": "Wall_Decor_Photo_1", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.9420716762542725, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.9420716762542725, + 1.6720385551452637, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 2.1772351264953613, + 6.50425910949707 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.5360002517700195 + ], + [ + 3.2744243144989014, + 1.6720385551452637, + 6.50425910949707 + ] + ], + "center": { + "x": 3.608247995376587, + "y": 1.9246368408203125, + "z": 6.520129680633545 + }, + "size": { + "x": 0.6676473617553711, + "y": 0.5051965713500977, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Television|4|0|1", + "object_info": { + "name": "Television|4|0|1", + "position": { + "x": 4.5883378982543945, + "y": 0.9386330842971802, + "z": 6.25775671005249 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 5.010506629943848, + "objectType": "Television", + "objectId": "Television|4|0|1", + "assetId": "Television_23", + "parentReceptacles": [ + "Floor", + "TVStand|4|0|0" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 5.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153933048248291 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.508190631866455 + ], + [ + 4.0883378982543945, + 0.4502493143081665, + 6.153933048248291 + ] + ], + "center": { + "x": 4.5883378982543945, + "y": 0.8531879782676697, + "z": 6.331061840057373 + }, + "size": { + "x": 1.0, + "y": 0.8058773279190063, + "z": 0.35425758361816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 4.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 0.4502493441104889, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.153932571411133 + ], + [ + 5.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ], + [ + 4.0883378982543945, + 1.2561266422271729, + 6.508191108703613 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Fridge|2|1", + "CellPhone|surface|4|17", + "Dresser|4|3", + "Book|surface|4|22", + "DiningTable|4|1|0", + "Dresser|4|3___0", + "TVStand|4|0|0___1", + "Watch|surface|4|16", + "Vase|surface|4|24", + "CreditCard|surface|4|21", + "Painting|4|6", + "Dresser|4|3___1", + "Television|4|0|1", + "Painting|4|4", + "Chair|4|1|2", + "TVStand|4|0|0" + ] +} \ No newline at end of file diff --git a/train/train1202/4/0_depth_npy.npy b/train/train1202/4/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b2bd662e4a39b2b9d28fe9c788397f4f490df6c1 --- /dev/null +++ b/train/train1202/4/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94836a38665c791898b291c07cb87aa0a2b0f066ed79b58924d136804ecd770c +size 3145856 diff --git a/train/train1202/4/0_semantic_sensor_npy.npy b/train/train1202/4/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..c6180a9b6948ac81efe8b3b5c9e4787bf2adee0e --- /dev/null +++ b/train/train1202/4/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d6d9d2695377cb03de339fe41f75902753293db02dc668ceaafc63fda2b204f +size 2359424 diff --git a/train/train1202/4/1.json b/train/train1202/4/1.json new file mode 100644 index 0000000000000000000000000000000000000000..17e6e37a058eb81a77905bc5fdbde7538e939425 --- /dev/null +++ b/train/train1202/4/1.json @@ -0,0 +1,634 @@ +{ + "object": [ + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 5.199999809265137, + "y": 0.9009997844696045, + "z": 1.5 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": -30.0, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 5.199999809265137, + "y": 1.5759997367858887, + "z": 1.5 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|2|4", + "door|2|3", + "Painting|3|7" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2" + ] +} \ No newline at end of file diff --git a/train/train1202/4/1_depth_npy.npy b/train/train1202/4/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..410ce7708dd26e214a7feb3389b9c4ce80a9b101 --- /dev/null +++ b/train/train1202/4/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58bb85a2bcc591f0ab4df3916f5f8a4e0d8821500f2ca129c37eb35f25d362d3 +size 3145856 diff --git a/train/train1202/4/1_semantic_sensor_npy.npy b/train/train1202/4/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..35bb9f0004170564aefbefecbfc4f95334c44100 --- /dev/null +++ b/train/train1202/4/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23c7f0618a5341b40ea88be86cc951901497c0ff08920a1dc182c9f463606552 +size 2359424 diff --git a/train/train1202/4/depth_0.png b/train/train1202/4/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..e5983df9de9fa6b18f80dee7b8406a450432655d Binary files /dev/null and b/train/train1202/4/depth_0.png differ diff --git a/train/train1202/4/depth_1.png b/train/train1202/4/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..59f260fc9c6738e4c92a9eef848bd95af4ec063e Binary files /dev/null and b/train/train1202/4/depth_1.png differ diff --git a/train/train1202/4/mask_questions.jsonl b/train/train1202/4/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train1202/4/rgb_0.png b/train/train1202/4/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b3dae7e39de571af9219e9d9f6ea9ff2ce689e0a --- /dev/null +++ b/train/train1202/4/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:399c976538dad80206860c6f329e59159f8b777002c76d4878333f3abd639729 +size 242112 diff --git a/train/train1202/4/rgb_1.png b/train/train1202/4/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..615f578498e2cc7351a74e831f32062003fd577e --- /dev/null +++ b/train/train1202/4/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:640827b942508aa2cef4b502771a81419db6ccfa3b80c570bf544bf1b50cd751 +size 198482 diff --git a/train/train1202/4/semantic_0.png b/train/train1202/4/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7b6a72ec2da6325d7f5e8d0d1b5086fc82e5d968 Binary files /dev/null and b/train/train1202/4/semantic_0.png differ diff --git a/train/train1202/4/semantic_1.png b/train/train1202/4/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..bcfc044b3ef9e9fa0edaf6fff21041e69adbaa61 Binary files /dev/null and b/train/train1202/4/semantic_1.png differ diff --git a/train/train1202/color_to_object_id.json b/train/train1202/color_to_object_id.json new file mode 100644 index 0000000000000000000000000000000000000000..fb4aa92f95fc72fd2b552726a46806c04e25cd62 --- /dev/null +++ b/train/train1202/color_to_object_id.json @@ -0,0 +1,1990 @@ +[ + { + "window|6|0": [ + 43, + 165, + 91 + ] + }, + { + "Window": [ + 200, + 150, + 134 + ] + }, + { + "window|5|1": [ + 130, + 218, + 61 + ] + }, + { + "window|5|0": [ + 136, + 191, + 22 + ] + }, + { + "door|1|4": [ + 87, + 14, + 187 + ] + }, + { + "Doorway": [ + 163, + 222, + 124 + ] + }, + { + "door|5|6": [ + 163, + 25, + 123 + ] + }, + { + "door|4|5": [ + 50, + 233, + 221 + ] + }, + { + "door|2|4": [ + 91, + 180, + 98 + ] + }, + { + "Doorframe": [ + 191, + 139, + 21 + ] + }, + { + "door|2|3": [ + 144, + 182, + 201 + ] + }, + { + "Painting|3|7": [ + 179, + 232, + 3 + ] + }, + { + "Painting": [ + 40, + 117, + 236 + ] + }, + { + "Painting|3|6": [ + 105, + 78, + 198 + ] + }, + { + "Painting|3|5": [ + 156, + 50, + 198 + ] + }, + { + "Painting|3|4": [ + 215, + 188, + 149 + ] + }, + { + "Painting|2|4": [ + 168, + 73, + 214 + ] + }, + { + "Painting|2|3": [ + 50, + 126, + 53 + ] + }, + { + "Painting|6|8": [ + 111, + 50, + 53 + ] + }, + { + "Painting|6|7": [ + 153, + 91, + 237 + ] + }, + { + "Painting|4|6": [ + 111, + 255, + 77 + ] + }, + { + "Painting|4|5": [ + 53, + 66, + 101 + ] + }, + { + "Painting|4|4": [ + 186, + 182, + 80 + ] + }, + { + "Painting|5|7": [ + 36, + 115, + 71 + ] + }, + { + "Painting|5|6": [ + 220, + 108, + 112 + ] + }, + { + "Painting|5|5": [ + 137, + 50, + 249 + ] + }, + { + "Television|6|6": [ + 102, + 53, + 26 + ] + }, + { + "Television": [ + 27, + 245, + 217 + ] + }, + { + "TissueBox|surface|6|54": [ + 199, + 91, + 170 + ] + }, + { + "TissueBox": [ + 98, + 43, + 249 + ] + }, + { + "TissueBox|surface|6|53": [ + 18, + 46, + 133 + ] + }, + { + "CellPhone|surface|6|51": [ + 62, + 155, + 115 + ] + }, + { + "CellPhone": [ + 227, + 98, + 136 + ] + }, + { + "CellPhone|surface|6|50": [ + 120, + 22, + 133 + ] + }, + { + "CreditCard|surface|6|42": [ + 65, + 44, + 75 + ] + }, + { + "CreditCard": [ + 56, + 235, + 12 + ] + }, + { + "Book|surface|6|41": [ + 24, + 39, + 127 + ] + }, + { + "Book": [ + 43, + 31, + 148 + ] + }, + { + "Desk|6|5": [ + 13, + 75, + 159 + ] + }, + { + "Desk": [ + 14, + 120, + 179 + ] + }, + { + "GarbageCan|6|4": [ + 117, + 43, + 87 + ] + }, + { + "GarbageCan": [ + 225, + 40, + 55 + ] + }, + { + "Chair|6|3|1": [ + 6, + 129, + 219 + ] + }, + { + "Chair": [ + 166, + 13, + 176 + ] + }, + { + "Laptop|surface|6|58": [ + 87, + 35, + 126 + ] + }, + { + "Laptop": [ + 20, + 107, + 222 + ] + }, + { + "BaseballBat|surface|6|55": [ + 207, + 105, + 146 + ] + }, + { + "BaseballBat": [ + 171, + 20, + 38 + ] + }, + { + "DeskLamp|surface|6|49": [ + 87, + 127, + 133 + ] + }, + { + "DeskLamp": [ + 99, + 164, + 25 + ] + }, + { + "Pencil|surface|6|43": [ + 151, + 33, + 115 + ] + }, + { + "Pencil": [ + 177, + 226, + 23 + ] + }, + { + "DiningTable|6|3|0": [ + 34, + 96, + 185 + ] + }, + { + "DiningTable": [ + 83, + 33, + 33 + ] + }, + { + "Box|6|2": [ + 241, + 14, + 186 + ] + }, + { + "Box": [ + 60, + 252, + 230 + ] + }, + { + "CellPhone|surface|6|57": [ + 171, + 21, + 4 + ] + }, + { + "CellPhone|surface|6|56": [ + 93, + 9, + 109 + ] + }, + { + "Vase|surface|6|52": [ + 234, + 96, + 199 + ] + }, + { + "Vase": [ + 83, + 152, + 69 + ] + }, + { + "Pencil|surface|6|48": [ + 152, + 13, + 237 + ] + }, + { + "Book|surface|6|46": [ + 119, + 227, + 245 + ] + }, + { + "Book|surface|6|45": [ + 123, + 129, + 191 + ] + }, + { + "AlarmClock|surface|6|39": [ + 103, + 142, + 66 + ] + }, + { + "AlarmClock": [ + 184, + 20, + 170 + ] + }, + { + "Dresser|6|1___3": [ + 125, + 169, + 154 + ] + }, + { + "Drawer": [ + 155, + 30, + 210 + ] + }, + { + "Dresser|6|1___2": [ + 219, + 86, + 133 + ] + }, + { + "Dresser|6|1___1": [ + 91, + 55, + 231 + ] + }, + { + "Dresser|6|1___0": [ + 86, + 178, + 164 + ] + }, + { + "Dresser|6|1": [ + 74, + 74, + 184 + ] + }, + { + "Dresser": [ + 51, + 128, + 146 + ] + }, + { + "TennisRacket|surface|6|47": [ + 9, + 170, + 110 + ] + }, + { + "TennisRacket": [ + 138, + 71, + 107 + ] + }, + { + "RemoteControl|surface|6|44": [ + 172, + 50, + 175 + ] + }, + { + "RemoteControl": [ + 187, + 19, + 208 + ] + }, + { + "Pillow|surface|6|40": [ + 18, + 8, + 167 + ] + }, + { + "Pillow": [ + 217, + 193, + 130 + ] + }, + { + "Bed|6|0": [ + 5, + 103, + 154 + ] + }, + { + "Bed": [ + 209, + 156, + 101 + ] + }, + { + "DogBed|5|4": [ + 191, + 61, + 36 + ] + }, + { + "DogBed": [ + 106, + 193, + 45 + ] + }, + { + "Safe|5|3": [ + 218, + 86, + 222 + ] + }, + { + "Safe": [ + 198, + 238, + 160 + ] + }, + { + "Chair|5|2|4": [ + 99, + 174, + 176 + ] + }, + { + "Chair|5|2|3": [ + 210, + 165, + 135 + ] + }, + { + "Chair|5|2|2": [ + 11, + 225, + 10 + ] + }, + { + "Chair|5|2|1": [ + 142, + 232, + 13 + ] + }, + { + "Box|surface|5|37": [ + 248, + 37, + 196 + ] + }, + { + "Book|surface|5|36": [ + 51, + 144, + 225 + ] + }, + { + "Bowl|surface|5|33": [ + 250, + 216, + 98 + ] + }, + { + "Bowl": [ + 209, + 182, + 193 + ] + }, + { + "HousePlant|surface|5|32": [ + 182, + 235, + 89 + ] + }, + { + "HousePlant": [ + 73, + 144, + 213 + ] + }, + { + "CreditCard|surface|5|31": [ + 94, + 66, + 93 + ] + }, + { + "RemoteControl|surface|5|27": [ + 228, + 21, + 152 + ] + }, + { + "DiningTable|5|2|0": [ + 25, + 135, + 226 + ] + }, + { + "Statue|surface|5|35": [ + 251, + 136, + 129 + ] + }, + { + "Statue": [ + 243, + 75, + 41 + ] + }, + { + "KeyChain|surface|5|34": [ + 39, + 237, + 149 + ] + }, + { + "KeyChain": [ + 27, + 54, + 18 + ] + }, + { + "Vase|surface|5|30": [ + 116, + 90, + 102 + ] + }, + { + "Dresser|5|1___3": [ + 186, + 175, + 115 + ] + }, + { + "Dresser|5|1___2": [ + 193, + 31, + 77 + ] + }, + { + "Dresser|5|1___1": [ + 36, + 223, + 213 + ] + }, + { + "Dresser|5|1___0": [ + 42, + 182, + 193 + ] + }, + { + "Dresser|5|1": [ + 169, + 211, + 43 + ] + }, + { + "Pillow|surface|5|38": [ + 228, + 139, + 78 + ] + }, + { + "TeddyBear|surface|5|29": [ + 54, + 196, + 238 + ] + }, + { + "TeddyBear": [ + 229, + 73, + 134 + ] + }, + { + "BaseballBat|surface|5|28": [ + 16, + 86, + 117 + ] + }, + { + "Bed|5|0": [ + 213, + 171, + 182 + ] + }, + { + "CellPhone|surface|4|17": [ + 37, + 199, + 23 + ] + }, + { + "Watch|surface|4|16": [ + 121, + 179, + 101 + ] + }, + { + "Watch": [ + 242, + 6, + 88 + ] + }, + { + "Dresser|4|3___2": [ + 142, + 213, + 34 + ] + }, + { + "Dresser|4|3___1": [ + 22, + 100, + 55 + ] + }, + { + "Dresser|4|3___0": [ + 89, + 128, + 115 + ] + }, + { + "Dresser|4|3": [ + 92, + 22, + 49 + ] + }, + { + "FloorLamp|4|2": [ + 147, + 82, + 148 + ] + }, + { + "FloorLamp": [ + 253, + 73, + 35 + ] + }, + { + "Chair|4|1|4": [ + 78, + 48, + 24 + ] + }, + { + "Chair|4|1|3": [ + 178, + 87, + 59 + ] + }, + { + "Chair|4|1|2": [ + 59, + 92, + 140 + ] + }, + { + "Chair|4|1|1": [ + 23, + 202, + 17 + ] + }, + { + "Book|surface|4|26": [ + 74, + 176, + 203 + ] + }, + { + "Laptop|surface|4|23": [ + 120, + 244, + 89 + ] + }, + { + "DiningTable|4|1|0": [ + 52, + 59, + 190 + ] + }, + { + "Pen|surface|4|25": [ + 235, + 7, + 211 + ] + }, + { + "Pen": [ + 239, + 130, + 152 + ] + }, + { + "Vase|surface|4|24": [ + 46, + 194, + 144 + ] + }, + { + "Book|surface|4|22": [ + 5, + 182, + 176 + ] + }, + { + "CreditCard|surface|4|21": [ + 110, + 134, + 231 + ] + }, + { + "Watch|surface|4|20": [ + 188, + 102, + 63 + ] + }, + { + "Plate|surface|4|19": [ + 220, + 118, + 245 + ] + }, + { + "Plate": [ + 188, + 154, + 128 + ] + }, + { + "KeyChain|surface|4|18": [ + 205, + 237, + 105 + ] + }, + { + "CellPhone|surface|4|15": [ + 51, + 24, + 157 + ] + }, + { + "Bowl|surface|4|14": [ + 4, + 235, + 91 + ] + }, + { + "Television|4|0|1": [ + 253, + 56, + 77 + ] + }, + { + "TVStand|4|0|0___1": [ + 112, + 40, + 63 + ] + }, + { + "TVStand|4|0|0___0": [ + 198, + 214, + 177 + ] + }, + { + "TVStand|4|0|0": [ + 51, + 56, + 38 + ] + }, + { + "TVStand": [ + 94, + 234, + 136 + ] + }, + { + "Plunger|3|3": [ + 116, + 44, + 97 + ] + }, + { + "Plunger": [ + 74, + 209, + 56 + ] + }, + { + "GarbageCan|3|2": [ + 69, + 131, + 32 + ] + }, + { + "Faucet|3|1|1": [ + 183, + 115, + 49 + ] + }, + { + "Faucet": [ + 21, + 38, + 98 + ] + }, + { + "Sink|3|1|0___0": [ + 145, + 221, + 236 + ] + }, + { + "SinkBasin": [ + 80, + 192, + 81 + ] + }, + { + "Sink|3|1|0": [ + 255, + 162, + 107 + ] + }, + { + "Sink": [ + 30, + 181, + 88 + ] + }, + { + "SprayBottle|surface|3|13": [ + 132, + 5, + 103 + ] + }, + { + "SprayBottle": [ + 89, + 126, + 121 + ] + }, + { + "ToiletPaper|surface|3|12": [ + 189, + 127, + 230 + ] + }, + { + "ToiletPaper": [ + 162, + 204, + 152 + ] + }, + { + "Cloth|surface|3|11": [ + 247, + 134, + 56 + ] + }, + { + "Cloth": [ + 110, + 184, + 56 + ] + }, + { + "SoapBar|surface|3|10": [ + 160, + 203, + 144 + ] + }, + { + "SoapBar": [ + 43, + 97, + 155 + ] + }, + { + "Toilet|3|0": [ + 244, + 232, + 60 + ] + }, + { + "Toilet": [ + 21, + 27, + 163 + ] + }, + { + "HousePlant|2|2|0": [ + 195, + 73, + 217 + ] + }, + { + "Potato|surface|2|7": [ + 254, + 188, + 49 + ] + }, + { + "Potato": [ + 187, + 142, + 9 + ] + }, + { + "Tomato|surface|2|5": [ + 113, + 164, + 212 + ] + }, + { + "Tomato": [ + 119, + 189, + 121 + ] + }, + { + "Fridge|2|1": [ + 206, + 5, + 34 + ] + }, + { + "Fridge": [ + 91, + 156, + 207 + ] + }, + { + "Kettle|surface|2|9": [ + 163, + 91, + 15 + ] + }, + { + "Kettle": [ + 7, + 83, + 48 + ] + }, + { + "Fork|surface|2|8": [ + 163, + 143, + 225 + ] + }, + { + "Fork": [ + 54, + 200, + 25 + ] + }, + { + "Lettuce|surface|2|6": [ + 24, + 82, + 141 + ] + }, + { + "Lettuce": [ + 203, + 156, + 88 + ] + }, + { + "CreditCard|surface|2|4": [ + 169, + 235, + 99 + ] + }, + { + "Bread|surface|2|3": [ + 138, + 234, + 188 + ] + }, + { + "Bread": [ + 18, + 150, + 252 + ] + }, + { + "SoapBottle|surface|2|2": [ + 193, + 220, + 166 + ] + }, + { + "SoapBottle": [ + 168, + 222, + 137 + ] + }, + { + "Spoon|surface|2|1": [ + 230, + 162, + 137 + ] + }, + { + "Spoon": [ + 235, + 57, + 90 + ] + }, + { + "Spoon|surface|2|0": [ + 246, + 90, + 73 + ] + }, + { + "CounterTop|2|0": [ + 213, + 254, + 98 + ] + }, + { + "CounterTop": [ + 103, + 209, + 30 + ] + }, + { + "Ceiling_room|6|0|3.741107|0": [ + 163, + 54, + 94 + ] + }, + { + "Ceiling": [ + 50, + 55, + 251 + ] + }, + { + "Ceiling_room|5|0|3.741107|0": [ + 166, + 161, + 114 + ] + }, + { + "Ceiling_room|4|0|3.741107|0": [ + 141, + 19, + 191 + ] + }, + { + "Ceiling_room|3|0|3.741107|0": [ + 235, + 57, + 190 + ] + }, + { + "Ceiling_room|2|0|3.741107|0": [ + 185, + 150, + 191 + ] + }, + { + "wall|exterior|11.45|0.00|11.45|6.54": [ + 105, + 148, + 102 + ] + }, + { + "Wall": [ + 148, + 232, + 164 + ] + }, + { + "wall|exterior|9.81|0.00|11.45|0.00": [ + 84, + 206, + 179 + ] + }, + { + "wall|exterior|6.54|0.00|9.81|0.00": [ + 35, + 75, + 103 + ] + }, + { + "wall|exterior|3.27|0.00|6.54|0.00": [ + 155, + 107, + 176 + ] + }, + { + "wall|exterior|11.45|6.54|11.45|9.81": [ + 128, + 47, + 83 + ] + }, + { + "wall|exterior|3.27|8.18|3.27|9.81": [ + 70, + 211, + 178 + ] + }, + { + "wall|exterior|3.27|9.81|11.45|9.81": [ + 82, + 164, + 57 + ] + }, + { + "wall|exterior|0.00|0.00|0.00|8.18": [ + 159, + 85, + 79 + ] + }, + { + "wall|exterior|0.00|8.18|3.27|8.18": [ + 147, + 254, + 245 + ] + }, + { + "wall|exterior|0.00|0.00|3.27|0.00": [ + 30, + 177, + 113 + ] + }, + { + "wall|6|3.27|6.54|6.54|6.54": [ + 243, + 41, + 235 + ] + }, + { + "wall|6|6.54|6.54|9.81|6.54": [ + 70, + 213, + 98 + ] + }, + { + "wall|6|9.81|6.54|11.45|6.54": [ + 241, + 121, + 234 + ] + }, + { + "wall|6|11.45|6.54|11.45|9.81": [ + 210, + 210, + 66 + ] + }, + { + "wall|6|3.27|9.81|11.45|9.81": [ + 3, + 255, + 68 + ] + }, + { + "wall|6|3.27|8.18|3.27|9.81": [ + 138, + 30, + 179 + ] + }, + { + "wall|6|3.27|6.54|3.27|8.18": [ + 26, + 227, + 98 + ] + }, + { + "wall|5|0.00|0.00|3.27|0.00": [ + 182, + 72, + 67 + ] + }, + { + "wall|5|3.27|0.00|3.27|6.54": [ + 210, + 68, + 18 + ] + }, + { + "wall|5|3.27|6.54|3.27|8.18": [ + 89, + 2, + 212 + ] + }, + { + "wall|5|0.00|8.18|3.27|8.18": [ + 196, + 4, + 46 + ] + }, + { + "wall|5|0.00|0.00|0.00|8.18": [ + 135, + 33, + 165 + ] + }, + { + "wall|4|3.27|0.00|6.54|0.00": [ + 47, + 211, + 89 + ] + }, + { + "wall|4|6.54|0.00|6.54|6.54": [ + 238, + 82, + 51 + ] + }, + { + "wall|4|3.27|6.54|6.54|6.54": [ + 1, + 45, + 36 + ] + }, + { + "wall|4|3.27|0.00|3.27|6.54": [ + 81, + 111, + 114 + ] + }, + { + "wall|3|9.81|0.00|11.45|0.00": [ + 88, + 132, + 56 + ] + }, + { + "wall|3|11.45|0.00|11.45|6.54": [ + 75, + 188, + 218 + ] + }, + { + "wall|3|9.81|6.54|11.45|6.54": [ + 46, + 214, + 38 + ] + }, + { + "wall|3|9.81|0.00|9.81|6.54": [ + 204, + 98, + 202 + ] + }, + { + "wall|2|6.54|0.00|9.81|0.00": [ + 220, + 158, + 111 + ] + }, + { + "wall|2|9.81|0.00|9.81|6.54": [ + 177, + 121, + 70 + ] + }, + { + "wall|2|6.54|6.54|9.81|6.54": [ + 253, + 102, + 240 + ] + }, + { + "wall|2|6.54|0.00|6.54|6.54": [ + 181, + 45, + 190 + ] + }, + { + "room|6": [ + 217, + 194, + 196 + ] + }, + { + "Floor": [ + 243, + 246, + 208 + ] + }, + { + "room|5": [ + 190, + 121, + 70 + ] + }, + { + "room|4": [ + 60, + 42, + 179 + ] + }, + { + "room|3": [ + 28, + 62, + 16 + ] + }, + { + "room|2": [ + 188, + 125, + 135 + ] + }, + { + "TheHand": [ + 255, + 136, + 237 + ] + }, + { + "agent_neck_1": [ + 30, + 64, + 67 + ] + }, + { + "agent_body_1 (shadows)": [ + 134, + 158, + 226 + ] + }, + { + "agent_collarbone_1 (shadows)": [ + 217, + 96, + 80 + ] + }, + { + "agent_head_1 (shadows)": [ + 140, + 210, + 177 + ] + }, + { + "stretch_robot_base_code": [ + 101, + 30, + 126 + ] + }, + { + "agent_head_1": [ + 1, + 149, + 209 + ] + }, + { + "stretch_robot_laser": [ + 140, + 24, + 249 + ] + }, + { + "stretch_robot_mast": [ + 136, + 63, + 93 + ] + }, + { + "stretch_robot_head_1": [ + 0, + 57, + 255 + ] + }, + { + "agent_neck_3": [ + 209, + 228, + 37 + ] + }, + { + "robot_tilt_link_n (shadows)": [ + 202, + 16, + 52 + ] + }, + { + "agent_head_2 (shadows)": [ + 156, + 59, + 238 + ] + }, + { + "stretch_robot_head_3 (shadows)": [ + 83, + 209, + 138 + ] + }, + { + "agent_collarbone_2": [ + 152, + 152, + 185 + ] + }, + { + "agent_neck_2 (shadows)": [ + 244, + 240, + 196 + ] + }, + { + "agent_head_2": [ + 14, + 66, + 230 + ] + }, + { + "stretch_robot_head_2": [ + 73, + 58, + 96 + ] + }, + { + "agent_neck_3 (shadows)": [ + 239, + 35, + 232 + ] + }, + { + "stretch_robot_omniwheel": [ + 227, + 166, + 104 + ] + }, + { + "robot_elbow_link": [ + 231, + 128, + 58 + ] + }, + { + "robot_camera_link_n": [ + 140, + 65, + 197 + ] + }, + { + "robot_finger_r": [ + 122, + 202, + 170 + ] + }, + { + "robot_finger_l": [ + 178, + 169, + 157 + ] + }, + { + "robot_ar_tag": [ + 46, + 234, + 150 + ] + }, + { + "robot_cam_mount_n": [ + 54, + 221, + 114 + ] + }, + { + "robot_battery_n": [ + 165, + 68, + 55 + ] + }, + { + "robot_plate": [ + 211, + 118, + 132 + ] + }, + { + "robot_main_wheel_r_n": [ + 36, + 84, + 49 + ] + }, + { + "robot_shoulder_link": [ + 92, + 95, + 127 + ] + }, + { + "robot_roll_link_n": [ + 135, + 154, + 116 + ] + }, + { + "robot_gripper_link": [ + 241, + 136, + 173 + ] + }, + { + "robot_forearm_link": [ + 149, + 185, + 52 + ] + }, + { + "robot_main_wheel_l_n": [ + 139, + 151, + 200 + ] + }, + { + "robot_main_body": [ + 27, + 62, + 251 + ] + }, + { + "robot_wrist_link": [ + 3, + 195, + 0 + ] + }, + { + "robot_tilt_link_n": [ + 251, + 182, + 71 + ] + }, + { + "agent_collarbone_2 (shadows)": [ + 27, + 29, + 156 + ] + }, + { + "stretch_robot_head_2 (shadows)": [ + 167, + 106, + 44 + ] + }, + { + "stretch_robot_wheel_r": [ + 43, + 10, + 241 + ] + }, + { + "agent_collarbone_3": [ + 33, + 153, + 80 + ] + }, + { + "stretch_robot_wheel_l": [ + 209, + 121, + 111 + ] + }, + { + "agent_collarbone_3 (shadows)": [ + 12, + 185, + 24 + ] + }, + { + "agent_neck_1 (shadows)": [ + 5, + 106, + 127 + ] + }, + { + "agent_body_1": [ + 19, + 85, + 240 + ] + }, + { + "stretch_robot_base": [ + 18, + 223, + 56 + ] + }, + { + "robot_roll_link_n (shadows)": [ + 104, + 6, + 177 + ] + }, + { + "agent_neck_2": [ + 134, + 34, + 121 + ] + }, + { + "agent_collarbone_1": [ + 180, + 251, + 165 + ] + }, + { + "stretch_robot_head_3": [ + 175, + 244, + 187 + ] + }, + { + "robot_camera_link_n (shadows)": [ + 49, + 9, + 106 + ] + } +] \ No newline at end of file diff --git a/train/train1202/top_down_image.png b/train/train1202/top_down_image.png new file mode 100644 index 0000000000000000000000000000000000000000..5850965b15ae3a4d9dc0068d72127785fdd54378 --- /dev/null +++ b/train/train1202/top_down_image.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53d5b1238ab8d1a6d7bca603bf712c1f195a22d9790a3310a11a1640a8b34c8c +size 261786 diff --git a/train/train616/0/0_depth_npy.npy b/train/train616/0/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e995a1e41a2228c8a4f0e86f5fd5e9e096e483ca --- /dev/null +++ b/train/train616/0/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d9f19d6b3f5a68a9a3ab7a5bb4ce6505d620647527f8342ac1abd87efee9678 +size 3145856 diff --git a/train/train616/0/1.json b/train/train616/0/1.json new file mode 100644 index 0000000000000000000000000000000000000000..90ef6f533b0c7215686ddfd8ee2d5adb680f1afc --- /dev/null +++ b/train/train616/0/1.json @@ -0,0 +1,1063 @@ +{ + "object": [ + { + "objectId": "Chair|4|1|1", + "object_info": { + "name": "Chair|4|1|1", + "position": { + "x": 5.354161262512207, + "y": 0.0031416714191436768, + "z": 2.6687018871307373 + }, + "rotation": { + "x": -0.0, + "y": 16.29289436340332, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [], + "distance": 1.7843416929244995, + "objectType": "Chair", + "objectId": "Chair|4|1|1", + "assetId": "Chair_224_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.636518478393555, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.636518478393555, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.636518478393555, + -1.004338264465332e-05, + 2.3285040855407715 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 3.015368938446045 + ], + [ + 5.066144943237305, + 0.8033758401870728, + 2.3285040855407715 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 3.015368938446045 + ], + [ + 5.066144943237305, + -1.004338264465332e-05, + 2.3285040855407715 + ] + ], + "center": { + "x": 5.35133171081543, + "y": 0.40168288350105286, + "z": 2.671936511993408 + }, + "size": { + "x": 0.57037353515625, + "y": 0.803385853767395, + "z": 0.6868648529052734 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.6637420654296875, + -9.98377799987793e-06, + 2.8985416889190674 + ], + [ + 5.219473361968994, + -9.98377799987793e-06, + 3.028395175933838 + ], + [ + 5.048254489898682, + -9.98377799987793e-06, + 2.44260311126709 + ], + [ + 5.492523193359375, + -9.98377799987793e-06, + 2.3127496242523193 + ], + [ + 5.6637420654296875, + 0.8033754825592041, + 2.8985416889190674 + ], + [ + 5.219473361968994, + 0.8033754825592041, + 3.028395175933838 + ], + [ + 5.048254489898682, + 0.8033754825592041, + 2.44260311126709 + ], + [ + 5.492523193359375, + 0.8033754825592041, + 2.3127496242523193 + ] + ] + } + } + }, + { + "objectId": "DiningTable|4|1|0", + "object_info": { + "name": "DiningTable|4|1|0", + "position": { + "x": 5.355981826782227, + "y": -0.0031822919845581055, + "z": 3.724600076675415 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 85.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "Laptop|surface|4|23", + "Book|surface|4|26" + ], + "distance": 2.7034060955047607, + "objectType": "DiningTable", + "objectId": "DiningTable|4|1|0", + "assetId": "Dining_Table_218_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 5.855982780456543, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 5.855982780456543, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 5.855982780456543, + 3.516674041748047e-06, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 4.618682384490967 + ], + [ + 4.85598087310791, + 0.7810473442077637, + 2.8305177688598633 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 4.618682384490967 + ], + [ + 4.85598087310791, + 3.516674041748047e-06, + 2.8305177688598633 + ] + ], + "center": { + "x": 5.355981826782227, + "y": 0.3905254304409027, + "z": 3.724600076675415 + }, + "size": { + "x": 1.0000019073486328, + "y": 0.7810438275337219, + "z": 1.7881646156311035 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 5.855982303619385, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 3.5762786865234375e-06, + 4.618681907653809 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 4.618682384490967 + ], + [ + 4.855981349945068, + 3.5762786865234375e-06, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 2.8305180072784424 + ], + [ + 5.855982303619385, + 0.7810471653938293, + 4.618681907653809 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 4.618682384490967 + ], + [ + 4.855981349945068, + 0.7810471653938293, + 2.8305180072784424 + ] + ] + } + } + }, + { + "objectId": "door|2|4", + "object_info": { + "name": "door|2|4", + "position": { + "x": 6.539700508117676, + "y": -0.0005981922149658203, + "z": 2.0724358558654785 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 2.1661734580993652, + "objectType": "Doorframe", + "objectId": "door|2|4", + "assetId": "Doorframe_Double_3", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.590658664703369, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.590658664703369, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.590658664703369, + 0.0, + 4.011923313140869 + ], + [ + 6.590658664703369, + 0.0, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 2.0870747566223145, + 2.069113254547119 + ], + [ + 6.4913411140441895, + 0.0, + 4.011923313140869 + ], + [ + 6.4913411140441895, + 0.0, + 2.069113254547119 + ] + ], + "center": { + "x": 6.540999889373779, + "y": 1.0435373783111572, + "z": 3.040518283843994 + }, + "size": { + "x": 0.09931755065917969, + "y": 2.0870747566223145, + "z": 1.94281005859375 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "door|2|3", + "object_info": { + "name": "door|2|3", + "position": { + "x": 9.811773300170898, + "y": -0.00026702880859375, + "z": 6.5231428146362305 + }, + "rotation": { + "x": -0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": true, + "openness": 1.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 7.364771842956543, + "objectType": "Doorway", + "objectId": "door|2|3", + "assetId": "Doorway_Double_5", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.727968215942383, + 2.095932960510254, + 6.545433044433594 + ], + [ + 10.727968215942383, + 2.095932960510254, + 4.553407669067383 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 10.727968215942383, + -2.384185791015625e-07, + 4.553407669067383 + ], + [ + 9.760202407836914, + 2.095932960510254, + 6.545433044433594 + ], + [ + 9.760202407836914, + 2.095932960510254, + 4.553407669067383 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 6.545433044433594 + ], + [ + 9.760202407836914, + -2.384185791015625e-07, + 4.553407669067383 + ] + ], + "center": { + "x": 10.244085311889648, + "y": 1.0479663610458374, + "z": 5.549420356750488 + }, + "size": { + "x": 0.9677658081054688, + "y": 2.095933198928833, + "z": 1.992025375366211 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "FloorLamp|4|2", + "object_info": { + "name": "FloorLamp|4|2", + "position": { + "x": 6.263036727905273, + "y": -0.0018747448921203613, + "z": 0.9616859555244446 + }, + "rotation": { + "x": 359.9669189453125, + "y": 269.9986572265625, + "z": 359.9627380371094 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 3.9300003051757812, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.7853816747665405, + "objectType": "FloorLamp", + "objectId": "FloorLamp|4|2", + "assetId": "Floor_Lamp_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 6.517219543457031, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.517219543457031, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.517219543457031, + -0.0020160675048828125, + 0.7076406478881836 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 1.2152924537658691 + ], + [ + 6.009941101074219, + 2.0757031440734863, + 0.7076406478881836 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 1.2152924537658691 + ], + [ + 6.009941101074219, + -0.0020160675048828125, + 0.7076406478881836 + ] + ], + "center": { + "x": 6.263580322265625, + "y": 1.0368435382843018, + "z": 0.9614665508270264 + }, + "size": { + "x": 0.5072784423828125, + "y": 2.077719211578369, + "z": 0.5076518058776855 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 6.00874137878418, + -0.001891990890726447, + 1.213939905166626 + ], + [ + 6.008753776550293, + -0.0015617554308846593, + 0.7062857151031494 + ], + [ + 6.5160441398620605, + -0.0018547163344919682, + 0.706297755241394 + ], + [ + 6.516031742095947, + -0.002184951677918434, + 1.213951826095581 + ], + [ + 6.009941101074219, + 2.0755419731140137, + 1.2152912616729736 + ], + [ + 6.009953498840332, + 2.0758721828460693, + 0.7076371908187866 + ], + [ + 6.5172438621521, + 2.0755791664123535, + 0.7076491713523865 + ], + [ + 6.517231464385986, + 2.075248956680298, + 1.2153033018112183 + ] + ] + } + } + }, + { + "objectId": "Painting|3|7", + "object_info": { + "name": "Painting|3|7", + "position": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.536004543304443 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.831557273864746, + "objectType": "Painting", + "objectId": "Painting|3|7", + "assetId": "Wall_Decor_Photo_10", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 10.833455085754395, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.833455085754395, + 1.453709363937378, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.8783271312713623, + 6.50425910949707 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.5360002517700195 + ], + [ + 10.121882438659668, + 1.453709363937378, + 6.50425910949707 + ] + ], + "center": { + "x": 10.477668762207031, + "y": 1.6660182476043701, + "z": 6.520129680633545 + }, + "size": { + "x": 0.7115726470947266, + "y": 0.4246177673339844, + "z": 0.03174114227294922 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Fridge|2|1", + "object_info": { + "name": "Fridge|2|1", + "position": { + "x": 8.027824401855469, + "y": 0.007394969463348389, + "z": 6.196259021759033 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": true, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Tomato|surface|2|5", + "Potato|surface|2|7" + ], + "distance": 6.000678539276123, + "objectType": "Fridge", + "objectId": "Fridge|2|1", + "assetId": "Fridge_15", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 8.576839447021484, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 8.576839447021484, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 8.576839447021484, + 0.0, + 6.515999794006348 + ], + [ + 8.576839447021484, + 0.0, + 5.736844062805176 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 6.515999794006348 + ], + [ + 7.494537353515625, + 1.8826072216033936, + 5.736844062805176 + ], + [ + 7.494537353515625, + 0.0, + 6.515999794006348 + ], + [ + 7.494537353515625, + 0.0, + 5.736844062805176 + ] + ], + "center": { + "x": 8.035688400268555, + "y": 0.9413036108016968, + "z": 6.126421928405762 + }, + "size": { + "x": 1.0823020935058594, + "y": 1.8826072216033936, + "z": 0.7791557312011719 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Painting|3|4", + "object_info": { + "name": "Painting|3|4", + "position": { + "x": 11.443442344665527, + "y": 1.4678616523742676, + "z": 5.477546215057373 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 7.9369797706604, + "objectType": "Painting", + "objectId": "Painting|3|4", + "assetId": "Wall_Decor_Painting_3", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 11.442000389099121, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.442000389099121, + 1.16008460521698, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.773220181465149, + 5.07399320602417 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.879675388336182 + ], + [ + 11.422650337219238, + 1.16008460521698, + 5.07399320602417 + ] + ], + "center": { + "x": 11.43232536315918, + "y": 1.4666523933410645, + "z": 5.476834297180176 + }, + "size": { + "x": 0.019350051879882812, + "y": 0.613135576248169, + "z": 0.8056821823120117 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 4.900000095367432, + "y": 0.9009997844696045, + "z": 1.2999999523162842 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "agent_cameraHorizon": 30.000003814697266, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 4.900000095367432, + "y": 1.5759997367858887, + "z": 1.2999999523162842 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "Fridge|2|1", + "Chair|4|1|1", + "DiningTable|4|1|0", + "door|2|3", + "door|2|4" + ], + "different_object": [ + "Painting|3|4", + "FloorLamp|4|2", + "Painting|3|7" + ] +} \ No newline at end of file diff --git a/train/train616/0/1_depth_npy.npy b/train/train616/0/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..e7f1794f70220f3cad8428d5be33ad248e579110 --- /dev/null +++ b/train/train616/0/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93c8387e8577ec6d8be9de0597b514a2b2c23c0333233d2ba611d42f64f0727f +size 3145856 diff --git a/train/train616/0/depth_0.png b/train/train616/0/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..78a873c2b6fd9bf79231ded1645a0b7b15d70084 Binary files /dev/null and b/train/train616/0/depth_0.png differ diff --git a/train/train616/0/mask_questions.jsonl b/train/train616/0/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27a1dca011d7966aca8006445da49f6d8608a426 --- /dev/null +++ b/train/train616/0/mask_questions.jsonl @@ -0,0 +1,5 @@ +{"id": 11623, "folder_dir": "train616/0", "pair_name": "0-1:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. Fridge\nC. Laptop\nD. Chair", "answer": "B", "object_name": "Fridge", "image_1": "train616/0/rgb_0.png", "image_2": "train616/0/rgb_1.png", "mask_image": "train616/0/rgb_1_mask_Fridge|2|1.png", "options": ["DiningTable", "Fridge", "Laptop", "Chair"]} +{"id": 11624, "folder_dir": "train616/0", "pair_name": "0-1:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. DiningTable\nB. Vase\nC. Fridge\nD. Chair", "answer": "D", "object_name": "Chair", "image_1": "train616/0/rgb_0.png", "image_2": "train616/0/rgb_1.png", "mask_image": "train616/0/rgb_1_mask_Chair|4|1|1.png", "options": ["DiningTable", "Vase", "Fridge", "Chair"]} +{"id": 11625, "folder_dir": "train616/0", "pair_name": "0-1:DiningTable|4|1|0", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. DiningTable\nC. Chair\nD. Television", "answer": "B", "object_name": "DiningTable", "image_1": "train616/0/rgb_0.png", "image_2": "train616/0/rgb_1.png", "mask_image": "train616/0/rgb_1_mask_DiningTable|4|1|0.png", "options": ["Fridge", "DiningTable", "Chair", "Television"]} +{"id": 11626, "folder_dir": "train616/0", "pair_name": "1-0:Fridge|2|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. Painting\nC. Painting\nD. Chair", "answer": "A", "object_name": "Fridge", "image_1": "train616/0/rgb_1.png", "image_2": "train616/0/rgb_0.png", "mask_image": "train616/0/rgb_0_mask_Fridge|2|1.png", "options": ["Fridge", "Painting", "Painting", "Chair"]} +{"id": 11627, "folder_dir": "train616/0", "pair_name": "1-0:Chair|4|1|1", "query": "Please combine the information from the two images and answer the following question:\nWhat is the object being masked in the second image?\nNote: The masked region is indicated by the black rectangle outlined in red in the second image.\nChoose the correct option from the list below. Only respond with the corresponding letter.\n\nA. Fridge\nB. Painting\nC. FloorLamp\nD. Chair", "answer": "D", "object_name": "Chair", "image_1": "train616/0/rgb_1.png", "image_2": "train616/0/rgb_0.png", "mask_image": "train616/0/rgb_0_mask_Chair|4|1|1.png", "options": ["Fridge", "Painting", "FloorLamp", "Chair"]} diff --git a/train/train616/0/rgb_0.png b/train/train616/0/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..2ee3a503ba9b95ffa92f7d76324b28338d063621 --- /dev/null +++ b/train/train616/0/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4de31dfdf38d571b3ec0c921624233b5584167e078e59230ff11fde1ed8d73d5 +size 430006 diff --git a/train/train616/0/rgb_0_mask_Fridge|2|1.png b/train/train616/0/rgb_0_mask_Fridge|2|1.png new file mode 100644 index 0000000000000000000000000000000000000000..68fc3d8210c0d9c8442fbbc99c8953239c27c6ee --- /dev/null +++ b/train/train616/0/rgb_0_mask_Fridge|2|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3c3ff93abfcba5efa5eded0aaa1552b748fe37b49fb675e2b907c867ba6995f +size 369437 diff --git a/train/train616/0/rgb_1_mask_Chair|4|1|1.png b/train/train616/0/rgb_1_mask_Chair|4|1|1.png new file mode 100644 index 0000000000000000000000000000000000000000..78be8fd88abbeb34f1f1ff5e8b368d7419f3b705 --- /dev/null +++ b/train/train616/0/rgb_1_mask_Chair|4|1|1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02ec1180c817ee1581e0463adbf2cbe89c7e55c4a170221aa4f658b6a05ff1c3 +size 361982 diff --git a/train/train616/0/rgb_1_mask_DiningTable|4|1|0.png b/train/train616/0/rgb_1_mask_DiningTable|4|1|0.png new file mode 100644 index 0000000000000000000000000000000000000000..cb1de62139aea942d042d70c06ce00b31cf1c666 --- /dev/null +++ b/train/train616/0/rgb_1_mask_DiningTable|4|1|0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c74a5281eed64764abc6972dc8f36faea55752da11e5c460ef2171a326e871a5 +size 382347 diff --git a/train/train616/0/semantic_0.png b/train/train616/0/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..6d22527bfad6713383c87e218b7049f3101991a5 Binary files /dev/null and b/train/train616/0/semantic_0.png differ diff --git a/train/train616/1/0.json b/train/train616/1/0.json new file mode 100644 index 0000000000000000000000000000000000000000..4881538c7ea8fc4e745476b8ae1cedd14322fb1f --- /dev/null +++ b/train/train616/1/0.json @@ -0,0 +1,1726 @@ +{ + "object": [ + { + "objectId": "Desk|2|5", + "object_info": { + "name": "Desk|2|5", + "position": { + "x": 1.525282621383667, + "y": 1.5348196029663086e-05, + "z": 1.0161205530166626 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 34.0, + "salientMaterials": [ + "Wood", + "Metal" + ], + "receptacleObjectIds": [ + "KeyChain|surface|2|12", + "CellPhone|surface|2|17", + "BaseballBat|2|3", + "KeyChain|surface|2|11", + "Mug|surface|2|13", + "CreditCard|surface|2|9" + ], + "distance": 2.2066524028778076, + "objectType": "Desk", + "objectId": "Desk|2|5", + "assetId": "RoboTHOR_desk_fjallbo_v", + "parentReceptacles": [ + "Floor", + "Mug|surface|2|13" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.703864336013794, + 0.7502079606056213, + 1.5161211490631104 + ], + [ + 1.703864336013794, + 0.7502079606056213, + 0.516120195388794 + ], + [ + 1.703864336013794, + 1.4781951904296875e-05, + 1.5161211490631104 + ], + [ + 1.703864336013794, + 1.4781951904296875e-05, + 0.516120195388794 + ], + [ + 1.3466308116912842, + 0.7502079606056213, + 1.5161211490631104 + ], + [ + 1.3466308116912842, + 0.7502079606056213, + 0.516120195388794 + ], + [ + 1.3466308116912842, + 1.4781951904296875e-05, + 1.5161211490631104 + ], + [ + 1.3466308116912842, + 1.4781951904296875e-05, + 0.516120195388794 + ] + ], + "center": { + "x": 1.525247573852539, + "y": 0.3751113712787628, + "z": 1.0161206722259521 + }, + "size": { + "x": 0.35723352432250977, + "y": 0.750193178653717, + "z": 1.0000009536743164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3466309309005737, + 1.5348196029663086e-05, + 1.5161206722259521 + ], + [ + 1.3466310501098633, + 1.5348196029663086e-05, + 0.5161204934120178 + ], + [ + 1.7038640975952148, + 1.5348196029663086e-05, + 0.5161204934120178 + ], + [ + 1.7038639783859253, + 1.5348196029663086e-05, + 1.5161206722259521 + ], + [ + 1.3466309309005737, + 0.7502076625823975, + 1.5161206722259521 + ], + [ + 1.3466310501098633, + 0.7502076625823975, + 0.5161204934120178 + ], + [ + 1.7038640975952148, + 0.7502076625823975, + 0.5161204934120178 + ], + [ + 1.7038639783859253, + 0.7502076625823975, + 1.5161206722259521 + ] + ] + } + } + }, + { + "objectId": "Bed|2|0", + "object_info": { + "name": "Bed|2|0", + "position": { + "x": 2.290079355239868, + "y": 0.0007697045803070068, + "z": 2.8368136882781982 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|2|19", + "Pillow|surface|2|10", + "RemoteControl|surface|2|15", + "Book|surface|2|20", + "BasketBall|surface|2|0" + ], + "distance": 2.0055758953094482, + "objectType": "Bed", + "objectId": "Bed|2|0", + "assetId": "Bed_26_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.437999725341797, + 0.7116315364837646, + 3.437999725341797 + ], + [ + 3.437999725341797, + 0.7116315364837646, + 2.2286243438720703 + ], + [ + 3.437999725341797, + 3.5762786865234375e-07, + 3.437999725341797 + ], + [ + 3.437999725341797, + 3.5762786865234375e-07, + 2.2286243438720703 + ], + [ + 1.064432144165039, + 0.7116315364837646, + 3.437999725341797 + ], + [ + 1.064432144165039, + 0.7116315364837646, + 2.2286243438720703 + ], + [ + 1.064432144165039, + 3.5762786865234375e-07, + 3.437999725341797 + ], + [ + 1.064432144165039, + 3.5762786865234375e-07, + 2.2286243438720703 + ] + ], + "center": { + "x": 2.251215934753418, + "y": 0.35581594705581665, + "z": 2.8333120346069336 + }, + "size": { + "x": 2.373567581176758, + "y": 0.711631178855896, + "z": 1.2093753814697266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.064432144165039, + 3.2782554626464844e-07, + 3.4379992485046387 + ], + [ + 1.0644323825836182, + 3.2782554626464844e-07, + 2.2286248207092285 + ], + [ + 3.437999725341797, + 3.2782554626464844e-07, + 2.2286252975463867 + ], + [ + 3.4379994869232178, + 3.2782554626464844e-07, + 3.437999725341797 + ], + [ + 1.064432144165039, + 0.7116314172744751, + 3.4379992485046387 + ], + [ + 1.0644323825836182, + 0.7116314172744751, + 2.2286248207092285 + ], + [ + 3.437999725341797, + 0.7116314172744751, + 2.2286252975463867 + ], + [ + 3.4379994869232178, + 0.7116314172744751, + 3.437999725341797 + ] + ] + } + } + }, + { + "objectId": "Chair|2|2", + "object_info": { + "name": "Chair|2|2", + "position": { + "x": 3.1780567169189453, + "y": 0.0005688071250915527, + "z": 1.9582728147506714 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 2.934211254119873, + "objectType": "Chair", + "objectId": "Chair|2|2", + "assetId": "Chair_205_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.4378042221069336, + 0.8749220371246338, + 2.1729471683502197 + ], + [ + 3.4378042221069336, + 0.8749220371246338, + 1.7559962272644043 + ], + [ + 3.4378042221069336, + -1.7017126083374023e-05, + 2.1729471683502197 + ], + [ + 3.4378042221069336, + -1.7017126083374023e-05, + 1.7559962272644043 + ], + [ + 2.9698286056518555, + 0.8749220371246338, + 2.1729471683502197 + ], + [ + 2.9698286056518555, + 0.8749220371246338, + 1.7559962272644043 + ], + [ + 2.9698286056518555, + -1.7017126083374023e-05, + 2.1729471683502197 + ], + [ + 2.9698286056518555, + -1.7017126083374023e-05, + 1.7559962272644043 + ] + ], + "center": { + "x": 3.2038164138793945, + "y": 0.4374525249004364, + "z": 1.964471697807312 + }, + "size": { + "x": 0.4679756164550781, + "y": 0.8749390840530396, + "z": 0.41695094108581543 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.9698293209075928, + -1.677870750427246e-05, + 2.172947406768799 + ], + [ + 2.9698293209075928, + -1.677870750427246e-05, + 1.7559962272644043 + ], + [ + 3.4378042221069336, + -1.677870750427246e-05, + 1.7559963464736938 + ], + [ + 3.4378042221069336, + -1.677870750427246e-05, + 2.172947406768799 + ], + [ + 2.9698293209075928, + 0.8749216198921204, + 2.172947406768799 + ], + [ + 2.9698293209075928, + 0.8749216198921204, + 1.7559962272644043 + ], + [ + 3.4378042221069336, + 0.8749216198921204, + 1.7559963464736938 + ], + [ + 3.4378042221069336, + 0.8749216198921204, + 2.172947406768799 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|2|3", + "object_info": { + "name": "BaseballBat|2|3", + "position": { + "x": 1.562258243560791, + "y": 0.7946795225143433, + "z": 1.6477712392807007 + }, + "rotation": { + "x": 270.1203308105469, + "y": 356.76202392578125, + "z": 40.22767639160156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.534472107887268, + "objectType": "BaseballBat", + "objectId": "BaseballBat|2|3", + "assetId": "BaseballBat_4", + "parentReceptacles": [ + "Desk|2|5" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7585065364837646, + 0.8405961394309998, + 1.8909165859222412 + ], + [ + 1.7585065364837646, + 0.8405961394309998, + 1.0763049125671387 + ], + [ + 1.7585065364837646, + 0.7494366765022278, + 1.8909165859222412 + ], + [ + 1.7585065364837646, + 0.7494366765022278, + 1.0763049125671387 + ], + [ + 1.1171112060546875, + 0.8405961394309998, + 1.8909165859222412 + ], + [ + 1.1171112060546875, + 0.8405961394309998, + 1.0763049125671387 + ], + [ + 1.1171112060546875, + 0.7494366765022278, + 1.8909165859222412 + ], + [ + 1.1171112060546875, + 0.7494366765022278, + 1.0763049125671387 + ] + ], + "center": { + "x": 1.437808871269226, + "y": 0.7950164079666138, + "z": 1.48361074924469 + }, + "size": { + "x": 0.6413953304290771, + "y": 0.09115946292877197, + "z": 0.8146116733551025 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.7585015296936035, + 0.8390241861343384, + 1.842309832572937 + ], + [ + 1.6939738988876343, + 0.8389121294021606, + 1.8909167051315308 + ], + [ + 1.6939847469329834, + 0.7494366765022278, + 1.8907248973846436 + ], + [ + 1.7585123777389526, + 0.7495486736297607, + 1.8421180248260498 + ], + [ + 1.1816327571868896, + 0.840596079826355, + 1.0764961242675781 + ], + [ + 1.1171051263809204, + 0.8404840230941772, + 1.1251029968261719 + ], + [ + 1.1171159744262695, + 0.7510085105895996, + 1.1249110698699951 + ], + [ + 1.1816436052322388, + 0.7511205673217773, + 1.0763041973114014 + ] + ] + } + } + }, + { + "objectId": "BasketBall|surface|2|0", + "object_info": { + "name": "BasketBall|surface|2|0", + "position": { + "x": 3.0823192596435547, + "y": 0.7279093265533447, + "z": 2.379911422729492 + }, + "rotation": { + "x": 0.00016382525791414082, + "y": 270.0, + "z": -8.046606671996415e-05 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.6000000238418579, + "salientMaterials": [ + "Rubber" + ], + "receptacleObjectIds": null, + "distance": 2.614440441131592, + "objectType": "BasketBall", + "objectId": "BasketBall|surface|2|0", + "assetId": "Basketball_1", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.2023191452026367, + 0.8479093313217163, + 2.499911308288574 + ], + [ + 3.2023191452026367, + 0.8479093313217163, + 2.25991153717041 + ], + [ + 3.2023191452026367, + 0.6079093217849731, + 2.499911308288574 + ], + [ + 3.2023191452026367, + 0.6079093217849731, + 2.25991153717041 + ], + [ + 2.9623193740844727, + 0.8479093313217163, + 2.499911308288574 + ], + [ + 2.9623193740844727, + 0.8479093313217163, + 2.25991153717041 + ], + [ + 2.9623193740844727, + 0.6079093217849731, + 2.499911308288574 + ], + [ + 2.9623193740844727, + 0.6079093217849731, + 2.25991153717041 + ] + ], + "center": { + "x": 3.0823192596435547, + "y": 0.7279093265533447, + "z": 2.379911422729492 + }, + "size": { + "x": 0.23999977111816406, + "y": 0.24000000953674316, + "z": 0.23999977111816406 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.9623196125030518, + 0.6079088449478149, + 2.499911308288574 + ], + [ + 2.9623196125030518, + 0.6079091429710388, + 2.259911298751831 + ], + [ + 3.202319622039795, + 0.6079098582267761, + 2.259911298751831 + ], + [ + 3.202319622039795, + 0.6079095005989075, + 2.499911308288574 + ], + [ + 2.9623188972473145, + 0.8479087948799133, + 2.4999115467071533 + ], + [ + 2.9623188972473145, + 0.847909152507782, + 2.25991153717041 + ], + [ + 3.2023189067840576, + 0.8479098081588745, + 2.25991153717041 + ], + [ + 3.2023189067840576, + 0.8479095101356506, + 2.4999115467071533 + ] + ] + } + } + }, + { + "objectId": "RemoteControl|surface|2|15", + "object_info": { + "name": "RemoteControl|surface|2|15", + "position": { + "x": 2.8010404109954834, + "y": 0.6086584329605103, + "z": 2.532212495803833 + }, + "rotation": { + "x": 5.909115316171665e-06, + "y": 270.0, + "z": -0.0005496721132658422 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.15000000596046448, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.3297386169433594, + "objectType": "RemoteControl", + "objectId": "RemoteControl|surface|2|15", + "assetId": "Remote_2", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.9070980548858643, + 0.6318220496177673, + 2.561494827270508 + ], + [ + 2.9070980548858643, + 0.6318220496177673, + 2.502930164337158 + ], + [ + 2.9070980548858643, + 0.6079091429710388, + 2.561494827270508 + ], + [ + 2.9070980548858643, + 0.6079091429710388, + 2.502930164337158 + ], + [ + 2.6949827671051025, + 0.6318220496177673, + 2.561494827270508 + ], + [ + 2.6949827671051025, + 0.6318220496177673, + 2.502930164337158 + ], + [ + 2.6949827671051025, + 0.6079091429710388, + 2.561494827270508 + ], + [ + 2.6949827671051025, + 0.6079091429710388, + 2.502930164337158 + ] + ], + "center": { + "x": 2.8010404109954834, + "y": 0.6198655962944031, + "z": 2.532212495803833 + }, + "size": { + "x": 0.21211528778076172, + "y": 0.023912906646728516, + "z": 0.05856466293334961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.6949827671051025, + 0.6079091429710388, + 2.5614945888519287 + ], + [ + 2.6949827671051025, + 0.6079097390174866, + 2.502930164337158 + ], + [ + 2.9070980548858643, + 0.6079097390174866, + 2.502930164337158 + ], + [ + 2.9070980548858643, + 0.6079091429710388, + 2.5614945888519287 + ], + [ + 2.6949827671051025, + 0.6318214535713196, + 2.561494827270508 + ], + [ + 2.6949827671051025, + 0.6318220496177673, + 2.5029304027557373 + ], + [ + 2.9070980548858643, + 0.6318220496177673, + 2.5029304027557373 + ], + [ + 2.9070980548858643, + 0.6318214535713196, + 2.561494827270508 + ] + ] + } + } + }, + { + "objectId": "Television|2|6", + "object_info": { + "name": "Television|2|6", + "position": { + "x": 2.605398416519165, + "y": 1.888741135597229, + "z": 1.743841528892517 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.5339081287384033, + "objectType": "Television", + "objectId": "Television|2|6", + "assetId": "Television_27", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.4568896293640137, + 2.415930986404419, + 1.8481359481811523 + ], + [ + 3.4568896293640137, + 2.415930986404419, + 1.7360000610351562 + ], + [ + 3.4568896293640137, + 1.2061614990234375, + 1.8481359481811523 + ], + [ + 3.4568896293640137, + 1.2061614990234375, + 1.7360000610351562 + ], + [ + 1.7539072036743164, + 2.415930986404419, + 1.8481359481811523 + ], + [ + 1.7539072036743164, + 2.415930986404419, + 1.7360000610351562 + ], + [ + 1.7539072036743164, + 1.2061614990234375, + 1.8481359481811523 + ], + [ + 1.7539072036743164, + 1.2061614990234375, + 1.7360000610351562 + ] + ], + "center": { + "x": 2.605398416519165, + "y": 1.8110462427139282, + "z": 1.7920680046081543 + }, + "size": { + "x": 1.7029824256896973, + "y": 1.2097694873809814, + "z": 0.1121358871459961 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pillow|surface|2|10", + "object_info": { + "name": "Pillow|surface|2|10", + "position": { + "x": 2.2384822368621826, + "y": 0.6792704463005066, + "z": 2.6845130920410156 + }, + "rotation": { + "x": -3.375506366865011e-06, + "y": 270.0, + "z": -8.423609870078508e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.699999988079071, + "salientMaterials": [ + "Fabric" + ], + "receptacleObjectIds": null, + "distance": 1.7537881135940552, + "objectType": "Pillow", + "objectId": "Pillow|surface|2|10", + "assetId": "pillow_26", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 2.468503475189209, + 0.7506314516067505, + 2.9149584770202637 + ], + [ + 2.468503475189209, + 0.7506314516067505, + 2.4540677070617676 + ], + [ + 2.468503475189209, + 0.6079093217849731, + 2.9149584770202637 + ], + [ + 2.468503475189209, + 0.6079093217849731, + 2.4540677070617676 + ], + [ + 2.0084609985351562, + 0.7506314516067505, + 2.9149584770202637 + ], + [ + 2.0084609985351562, + 0.7506314516067505, + 2.4540677070617676 + ], + [ + 2.0084609985351562, + 0.6079093217849731, + 2.9149584770202637 + ], + [ + 2.0084609985351562, + 0.6079093217849731, + 2.4540677070617676 + ] + ], + "center": { + "x": 2.2384822368621826, + "y": 0.6792703866958618, + "z": 2.6845130920410156 + }, + "size": { + "x": 0.46004247665405273, + "y": 0.14272212982177734, + "z": 0.4608907699584961 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.0084609985351562, + 0.6079094409942627, + 2.9149582386016846 + ], + [ + 2.0084609985351562, + 0.6079095005989075, + 2.4540679454803467 + ], + [ + 2.468503475189209, + 0.6079095005989075, + 2.4540677070617676 + ], + [ + 2.468503475189209, + 0.6079093813896179, + 2.9149582386016846 + ], + [ + 2.0084609985351562, + 0.7506313920021057, + 2.9149584770202637 + ], + [ + 2.0084609985351562, + 0.7506315112113953, + 2.4540679454803467 + ], + [ + 2.468503475189209, + 0.7506314516067505, + 2.4540679454803467 + ], + [ + 2.468503475189209, + 0.7506313920021057, + 2.9149582386016846 + ] + ] + } + } + }, + { + "objectId": "GarbageCan|2|4", + "object_info": { + "name": "GarbageCan|2|4", + "position": { + "x": 0.21869409084320068, + "y": 4.172325134277344e-07, + "z": 1.9429024457931519 + }, + "rotation": { + "x": 1.1140956303279381e-05, + "y": 89.99995422363281, + "z": -4.065494522365043e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 1.2419095039367676, + "objectType": "GarbageCan", + "objectId": "GarbageCan|2|4", + "assetId": "bin_25", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.41238802671432495, + 0.5262948274612427, + 2.136596441268921 + ], + [ + 0.41238802671432495, + 0.5262948274612427, + 1.749208688735962 + ], + [ + 0.41238802671432495, + 2.980232238769531e-07, + 2.136596441268921 + ], + [ + 0.41238802671432495, + 2.980232238769531e-07, + 1.749208688735962 + ], + [ + 0.025000274181365967, + 0.5262948274612427, + 2.136596441268921 + ], + [ + 0.025000274181365967, + 0.5262948274612427, + 1.749208688735962 + ], + [ + 0.025000274181365967, + 2.980232238769531e-07, + 2.136596441268921 + ], + [ + 0.025000274181365967, + 2.980232238769531e-07, + 1.749208688735962 + ] + ], + "center": { + "x": 0.21869415044784546, + "y": 0.2631475627422333, + "z": 1.9429025650024414 + }, + "size": { + "x": 0.387387752532959, + "y": 0.5262945294380188, + "z": 0.387387752532959 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.4123879671096802, + 1.2740710531033983e-07, + 1.7492088079452515 + ], + [ + 0.4123877286911011, + 1.5489467841689475e-07, + 2.136596441268921 + ], + [ + 0.025000199675559998, + 2.3022076334200392e-07, + 2.1365959644317627 + ], + [ + 0.025000467896461487, + 2.0273321865715843e-07, + 1.7492085695266724 + ], + [ + 0.4123880863189697, + 0.5262947082519531, + 1.7492088079452515 + ], + [ + 0.41238781809806824, + 0.5262947082519531, + 2.136596202850342 + ], + [ + 0.025000303983688354, + 0.5262948274612427, + 2.1365959644317627 + ], + [ + 0.025000572204589844, + 0.5262948274612427, + 1.7492084503173828 + ] + ] + } + } + }, + { + "objectId": "Book|surface|2|19", + "object_info": { + "name": "Book|surface|2|19", + "position": { + "x": 3.0823123455047607, + "y": 0.607376217842102, + "z": 2.6845173835754395 + }, + "rotation": { + "x": 359.9290771484375, + "y": 270.00189208984375, + "z": 0.038376353681087494 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.5997769832611084, + "objectType": "Book", + "objectId": "Book|surface|2|19", + "assetId": "Book_17", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.2385754585266113, + 0.6499207019805908, + 2.804131507873535 + ], + [ + 3.2385754585266113, + 0.6499207019805908, + 2.5619187355041504 + ], + [ + 3.2385754585266113, + 0.6074843406677246, + 2.804131507873535 + ], + [ + 3.2385754585266113, + 0.6074843406677246, + 2.5619187355041504 + ], + [ + 2.9261016845703125, + 0.6499207019805908, + 2.804131507873535 + ], + [ + 2.9261016845703125, + 0.6499207019805908, + 2.5619187355041504 + ], + [ + 2.9261016845703125, + 0.6074843406677246, + 2.804131507873535 + ], + [ + 2.9261016845703125, + 0.6074843406677246, + 2.5619187355041504 + ] + ], + "center": { + "x": 3.082338571548462, + "y": 0.6287025213241577, + "z": 2.6830251216888428 + }, + "size": { + "x": 0.31247377395629883, + "y": 0.04243636131286621, + "z": 0.24221277236938477 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.926109790802002, + 0.6080302596092224, + 2.804131031036377 + ], + [ + 2.9261014461517334, + 0.6078680753707886, + 2.5619561672210693 + ], + [ + 3.238515615463257, + 0.6074814200401306, + 2.561945915222168 + ], + [ + 3.2385239601135254, + 0.6076436638832092, + 2.8041207790374756 + ], + [ + 2.926161527633667, + 0.6499233245849609, + 2.804103136062622 + ], + [ + 2.9261534214019775, + 0.6497611403465271, + 2.5619280338287354 + ], + [ + 3.238567590713501, + 0.6493744850158691, + 2.561917781829834 + ], + [ + 3.2385756969451904, + 0.6495367288589478, + 2.8040928840637207 + ] + ] + } + } + }, + { + "objectId": "Book|surface|2|20", + "object_info": { + "name": "Book|surface|2|20", + "position": { + "x": 3.082317590713501, + "y": 0.6071121096611023, + "z": 2.9891133308410645 + }, + "rotation": { + "x": 359.9917907714844, + "y": 3.747204027604312e-05, + "z": 0.07181419432163239 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.5, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 2.6099634170532227, + "objectType": "Book", + "objectId": "Book|surface|2|20", + "assetId": "Book_1", + "parentReceptacles": [ + "Bed|2|0", + "Floor" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.296757459640503, + 0.6689959764480591, + 3.1535420417785645 + ], + [ + 3.296757459640503, + 0.6689959764480591, + 2.824676036834717 + ], + [ + 3.296757459640503, + 0.6073809862136841, + 3.1535420417785645 + ], + [ + 3.296757459640503, + 0.6073809862136841, + 2.824676036834717 + ], + [ + 2.870941400527954, + 0.6689959764480591, + 3.1535420417785645 + ], + [ + 2.870941400527954, + 0.6689959764480591, + 2.824676036834717 + ], + [ + 2.870941400527954, + 0.6073809862136841, + 3.1535420417785645 + ], + [ + 2.870941400527954, + 0.6073809862136841, + 2.824676036834717 + ] + ], + "center": { + "x": 3.0838494300842285, + "y": 0.6381884813308716, + "z": 2.9891090393066406 + }, + "size": { + "x": 0.42581605911254883, + "y": 0.061614990234375, + "z": 0.32886600494384766 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 3.296757459640503, + 0.6079570055007935, + 3.1535420417785645 + ], + [ + 2.87101674079895, + 0.6074233651161194, + 3.1535422801971436 + ], + [ + 2.871016502380371, + 0.607376217842102, + 2.8246848583221436 + ], + [ + 3.296757221221924, + 0.6079097986221313, + 2.8246846199035645 + ], + [ + 3.2966809272766113, + 0.6690002083778381, + 3.1535332202911377 + ], + [ + 2.8709402084350586, + 0.6684666275978088, + 3.153533697128296 + ], + [ + 2.8709402084350586, + 0.6684194207191467, + 2.824676036834717 + ], + [ + 3.2966806888580322, + 0.6689530611038208, + 2.8246757984161377 + ] + ] + } + } + } + ], + "Agent": { + "agent_position": { + "x": 0.6000000238418579, + "y": 0.9009997844696045, + "z": 2.9000000953674316 + }, + "agent_rotation": { + "x": -0.0, + "y": 90.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 0.6000000238418579, + "y": 1.5759997367858887, + "z": 2.9000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "GarbageCan|2|4", + "Bed|2|0" + ], + "different_object": [ + "Book|surface|2|19", + "Television|2|6", + "Book|surface|2|20", + "BasketBall|surface|2|0", + "Desk|2|5", + "Chair|2|2", + "Pillow|surface|2|10", + "RemoteControl|surface|2|15", + "BaseballBat|2|3" + ] +} \ No newline at end of file diff --git a/train/train616/1/0_depth_npy.npy b/train/train616/1/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..dfa6bccc36e9c5d93dea9d8f2cf223c836e33209 --- /dev/null +++ b/train/train616/1/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13686c0fb8ba93a421ef4b06f409400247b36cf75bdb94ee1651c982da46d6df +size 3145856 diff --git a/train/train616/1/0_semantic_sensor_npy.npy b/train/train616/1/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..b8076bb7f62687f0f6d4da2862900a16ac31fcf4 --- /dev/null +++ b/train/train616/1/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d7c6f362c9eea533ea83049380b44ae789fb820d579df2087810b6ee5411800 +size 2359424 diff --git a/train/train616/1/1.json b/train/train616/1/1.json new file mode 100644 index 0000000000000000000000000000000000000000..f29b19f892272db563f0559ec0fc13303f766801 --- /dev/null +++ b/train/train616/1/1.json @@ -0,0 +1,960 @@ +{ + "object": [ + { + "objectId": "Bed|2|0", + "object_info": { + "name": "Bed|2|0", + "position": { + "x": 2.290079355239868, + "y": 0.0007697045803070068, + "z": 2.8368136882781982 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|2|19", + "Pillow|surface|2|10", + "RemoteControl|surface|2|15", + "Book|surface|2|20", + "BasketBall|surface|2|0" + ], + "distance": 2.0055758953094482, + "objectType": "Bed", + "objectId": "Bed|2|0", + "assetId": "Bed_26_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.437999725341797, + 0.7116315364837646, + 3.437999725341797 + ], + [ + 3.437999725341797, + 0.7116315364837646, + 2.2286243438720703 + ], + [ + 3.437999725341797, + 3.5762786865234375e-07, + 3.437999725341797 + ], + [ + 3.437999725341797, + 3.5762786865234375e-07, + 2.2286243438720703 + ], + [ + 1.064432144165039, + 0.7116315364837646, + 3.437999725341797 + ], + [ + 1.064432144165039, + 0.7116315364837646, + 2.2286243438720703 + ], + [ + 1.064432144165039, + 3.5762786865234375e-07, + 3.437999725341797 + ], + [ + 1.064432144165039, + 3.5762786865234375e-07, + 2.2286243438720703 + ] + ], + "center": { + "x": 2.251215934753418, + "y": 0.35581594705581665, + "z": 2.8333120346069336 + }, + "size": { + "x": 2.373567581176758, + "y": 0.711631178855896, + "z": 1.2093753814697266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.064432144165039, + 3.2782554626464844e-07, + 3.4379992485046387 + ], + [ + 1.0644323825836182, + 3.2782554626464844e-07, + 2.2286248207092285 + ], + [ + 3.437999725341797, + 3.2782554626464844e-07, + 2.2286252975463867 + ], + [ + 3.4379994869232178, + 3.2782554626464844e-07, + 3.437999725341797 + ], + [ + 1.064432144165039, + 0.7116314172744751, + 3.4379992485046387 + ], + [ + 1.0644323825836182, + 0.7116314172744751, + 2.2286248207092285 + ], + [ + 3.437999725341797, + 0.7116314172744751, + 2.2286252975463867 + ], + [ + 3.4379994869232178, + 0.7116314172744751, + 3.437999725341797 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___1", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 0.18728360533714294, + "y": 0.6808571815490723, + "z": 1.1576499938964844 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.6376302242279053, + "objectType": "Drawer", + "objectId": "Dresser|2|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2987596392631531, + 0.8323848247528076, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.8323848247528076, + 0.8256094455718994 + ], + [ + 0.2987596392631531, + 0.5811355113983154, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.5811355113983154, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.8323848247528076, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.8323848247528076, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.5811355113983154, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.5811355113983154, + 0.8256094455718994 + ] + ], + "center": { + "x": 0.17446386814117432, + "y": 0.7067601680755615, + "z": 1.157650113105774 + }, + "size": { + "x": 0.24859154224395752, + "y": 0.2512493133544922, + "z": 0.664081335067749 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 0.16280868649482727, + "y": 0.0008056163787841797, + "z": 1.1580026149749756 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "AlarmClock|surface|2|6", + "TissueBox|surface|2|18", + "CD|surface|2|5", + "Pen|surface|2|3" + ], + "distance": 1.8597050905227661, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "Dresser_413_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.29014307260513306, + 1.1516683101654053, + 1.550062894821167 + ], + [ + 0.29014307260513306, + 1.1516683101654053, + 0.7659423351287842 + ], + [ + 0.29014307260513306, + -1.1920928955078125e-06, + 1.550062894821167 + ], + [ + 0.29014307260513306, + -1.1920928955078125e-06, + 0.7659423351287842 + ], + [ + 0.024999842047691345, + 1.1516683101654053, + 1.550062894821167 + ], + [ + 0.024999842047691345, + 1.1516683101654053, + 0.7659423351287842 + ], + [ + 0.024999842047691345, + -1.1920928955078125e-06, + 1.550062894821167 + ], + [ + 0.024999842047691345, + -1.1920928955078125e-06, + 0.7659423351287842 + ] + ], + "center": { + "x": 0.1575714498758316, + "y": 0.5758335590362549, + "z": 1.1580026149749756 + }, + "size": { + "x": 0.2651432156562805, + "y": 1.1516695022583008, + "z": 0.7841205596923828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.29014304280281067, + -1.1920928955078125e-06, + 0.7659424543380737 + ], + [ + 0.2901431620121002, + -1.1920928955078125e-06, + 1.550062894821167 + ], + [ + 0.024999886751174927, + -1.1920928955078125e-06, + 1.550062894821167 + ], + [ + 0.024999767541885376, + -1.1920928955078125e-06, + 0.7659424543380737 + ], + [ + 0.29014304280281067, + 1.151667833328247, + 0.7659424543380737 + ], + [ + 0.2901431620121002, + 1.151667833328247, + 1.550062894821167 + ], + [ + 0.024999886751174927, + 1.151667833328247, + 1.550062894821167 + ], + [ + 0.024999767541885376, + 1.151667833328247, + 0.7659424543380737 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___3", + "object_info": { + "name": "Drawer (4)", + "position": { + "x": 0.18728360533714294, + "y": 0.16128958761692047, + "z": 1.157650113105774 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CellPhone|surface|2|16" + ], + "distance": 1.7834070920944214, + "objectType": "Drawer", + "objectId": "Dresser|2|1___3", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2987596392631531, + 0.3128172755241394, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.3128172755241394, + 0.8256094455718994 + ], + [ + 0.2987596392631531, + 0.06156790256500244, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.06156790256500244, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.3128172755241394, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.3128172755241394, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.06156790256500244, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.06156790256500244, + 0.8256094455718994 + ] + ], + "center": { + "x": 0.17446386814117432, + "y": 0.18719258904457092, + "z": 1.157650113105774 + }, + "size": { + "x": 0.24859154224395752, + "y": 0.25124937295913696, + "z": 0.664081335067749 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|2|4", + "object_info": { + "name": "GarbageCan|2|4", + "position": { + "x": 0.21869409084320068, + "y": 4.172325134277344e-07, + "z": 1.9429024457931519 + }, + "rotation": { + "x": 1.1140956303279381e-05, + "y": 89.99995422363281, + "z": -4.065494522365043e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 1.2419095039367676, + "objectType": "GarbageCan", + "objectId": "GarbageCan|2|4", + "assetId": "bin_25", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.41238802671432495, + 0.5262948274612427, + 2.136596441268921 + ], + [ + 0.41238802671432495, + 0.5262948274612427, + 1.749208688735962 + ], + [ + 0.41238802671432495, + 2.980232238769531e-07, + 2.136596441268921 + ], + [ + 0.41238802671432495, + 2.980232238769531e-07, + 1.749208688735962 + ], + [ + 0.025000274181365967, + 0.5262948274612427, + 2.136596441268921 + ], + [ + 0.025000274181365967, + 0.5262948274612427, + 1.749208688735962 + ], + [ + 0.025000274181365967, + 2.980232238769531e-07, + 2.136596441268921 + ], + [ + 0.025000274181365967, + 2.980232238769531e-07, + 1.749208688735962 + ] + ], + "center": { + "x": 0.21869415044784546, + "y": 0.2631475627422333, + "z": 1.9429025650024414 + }, + "size": { + "x": 0.387387752532959, + "y": 0.5262945294380188, + "z": 0.387387752532959 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.4123879671096802, + 1.2740710531033983e-07, + 1.7492088079452515 + ], + [ + 0.4123877286911011, + 1.5489467841689475e-07, + 2.136596441268921 + ], + [ + 0.025000199675559998, + 2.3022076334200392e-07, + 2.1365959644317627 + ], + [ + 0.025000467896461487, + 2.0273321865715843e-07, + 1.7492085695266724 + ], + [ + 0.4123880863189697, + 0.5262947082519531, + 1.7492088079452515 + ], + [ + 0.41238781809806824, + 0.5262947082519531, + 2.136596202850342 + ], + [ + 0.025000303983688354, + 0.5262948274612427, + 2.1365959644317627 + ], + [ + 0.025000572204589844, + 0.5262948274612427, + 1.7492084503173828 + ] + ] + } + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 4.951361916027963e-07, + "y": 0.624384880065918, + "z": 2.439664363861084 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 0.6502488255500793, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Hung_32x60", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1212821826338768, + 2.2034459114074707, + 3.304600477218628 + ], + [ + 0.1212821826338768, + 2.2034459114074707, + 2.4387428760528564 + ], + [ + 0.1212821826338768, + 0.623267650604248, + 3.304600477218628 + ], + [ + 0.1212821826338768, + 0.623267650604248, + 2.4387428760528564 + ], + [ + -0.12128222733736038, + 2.2034459114074707, + 3.304600477218628 + ], + [ + -0.12128222733736038, + 2.2034459114074707, + 2.4387428760528564 + ], + [ + -0.12128222733736038, + 0.623267650604248, + 3.304600477218628 + ], + [ + -0.12128222733736038, + 0.623267650604248, + 2.4387428760528564 + ] + ], + "center": { + "x": -2.2351741790771484e-08, + "y": 1.4133567810058594, + "z": 2.871671676635742 + }, + "size": { + "x": 0.24256440997123718, + "y": 1.5801782608032227, + "z": 0.8658576011657715 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___2", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 0.18728360533714294, + "y": 0.420901894569397, + "z": 1.157650113105774 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Vase|surface|2|14" + ], + "distance": 1.6922954320907593, + "objectType": "Drawer", + "objectId": "Dresser|2|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2987596392631531, + 0.5724295377731323, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.5724295377731323, + 0.8256094455718994 + ], + [ + 0.2987596392631531, + 0.32118022441864014, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.32118022441864014, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.5724295377731323, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.5724295377731323, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.32118022441864014, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.32118022441864014, + 0.8256094455718994 + ] + ], + "center": { + "x": 0.17446386814117432, + "y": 0.44680488109588623, + "z": 1.157650113105774 + }, + "size": { + "x": 0.24859154224395752, + "y": 0.2512493133544922, + "z": 0.664081335067749 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 0.699999988079071, + "y": 0.9009997844696045, + "z": 2.9000000953674316 + }, + "agent_rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 0.699999988079071, + "y": 1.5759997367858887, + "z": 2.9000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "GarbageCan|2|4", + "Bed|2|0" + ], + "different_object": [ + "Dresser|2|1", + "Dresser|2|1___3", + "Dresser|2|1___1", + "Dresser|2|1___2", + "window|2|0" + ] +} \ No newline at end of file diff --git a/train/train616/1/1_depth_npy.npy b/train/train616/1/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..09bd4edc9fef4c2ab0e8a05246306fe47cd44db2 --- /dev/null +++ b/train/train616/1/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7bc3f27dba397cd01c7bf0fc13a286f65108a1cabb248c10df08be6b58eac9a +size 3145856 diff --git a/train/train616/1/1_semantic_sensor_npy.npy b/train/train616/1/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..aeeb3e62b2ffea60507605103f65a1b30cc0e99d --- /dev/null +++ b/train/train616/1/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34874c8922f0b1eae4690a29354adbf48980bfa9bdca5d5d3576ec76a0e7c956 +size 2359424 diff --git a/train/train616/1/depth_0.png b/train/train616/1/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..055377b09757d1a42fdfc8b2863f259b875e14d2 Binary files /dev/null and b/train/train616/1/depth_0.png differ diff --git a/train/train616/1/depth_1.png b/train/train616/1/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..7a40641d91dd68fb8905ada298221cda187c81e6 Binary files /dev/null and b/train/train616/1/depth_1.png differ diff --git a/train/train616/1/mask_questions.jsonl b/train/train616/1/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train616/1/rgb_0.png b/train/train616/1/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..ba0c11d29c3ef4e4f84ef4236211073cc549d3e2 --- /dev/null +++ b/train/train616/1/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c032f6439d251fd34f24de721d33c98207aaf16686d2381b733cabcdb156e5ca +size 1005440 diff --git a/train/train616/1/rgb_1.png b/train/train616/1/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..05b950d3b6277c6fb74b70b3a2cba441526435b1 --- /dev/null +++ b/train/train616/1/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82626cb060eb2a343cc0c9eb2cc53d2370f774c5cc38abb9c5fe8ebabbc4ca3b +size 1093262 diff --git a/train/train616/1/semantic_0.png b/train/train616/1/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..c486621019cec515e843fb7a3aef9cf3547e0d9a Binary files /dev/null and b/train/train616/1/semantic_0.png differ diff --git a/train/train616/1/semantic_1.png b/train/train616/1/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..db98400bfe7b70e17805197ea2b593e98a5ca1d4 Binary files /dev/null and b/train/train616/1/semantic_1.png differ diff --git a/train/train616/2/0.json b/train/train616/2/0.json new file mode 100644 index 0000000000000000000000000000000000000000..151dd62b3cf88fef658890e04e8e3d29803f6f33 --- /dev/null +++ b/train/train616/2/0.json @@ -0,0 +1,2712 @@ +{ + "object": [ + { + "objectId": "CreditCard|surface|2|9", + "object_info": { + "name": "CreditCard|surface|2|9", + "position": { + "x": 1.525282621383667, + "y": 0.7505524754524231, + "z": 1.1423150300979614 + }, + "rotation": { + "x": 0.00015301209350582212, + "y": 270.00006103515625, + "z": -0.000307622947730124 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.9127179384231567, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|2|9", + "assetId": "CreditCard_1", + "parentReceptacles": [ + "Desk|2|5" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5522818565368652, + 0.7546975612640381, + 1.1853973865509033 + ], + [ + 1.5522818565368652, + 0.7546975612640381, + 1.0992326736450195 + ], + [ + 1.5522818565368652, + 0.7502074241638184, + 1.1853973865509033 + ], + [ + 1.5522818565368652, + 0.7502074241638184, + 1.0992326736450195 + ], + [ + 1.4982833862304688, + 0.7546975612640381, + 1.1853973865509033 + ], + [ + 1.4982833862304688, + 0.7546975612640381, + 1.0992326736450195 + ], + [ + 1.4982833862304688, + 0.7502074241638184, + 1.1853973865509033 + ], + [ + 1.4982833862304688, + 0.7502074241638184, + 1.0992326736450195 + ] + ], + "center": { + "x": 1.525282621383667, + "y": 0.7524524927139282, + "z": 1.1423150300979614 + }, + "size": { + "x": 0.053998470306396484, + "y": 0.0044901371002197266, + "z": 0.08616471290588379 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4982835054397583, + 0.7502074241638184, + 1.1853973865509033 + ], + [ + 1.4982833862304688, + 0.7502078413963318, + 1.0992326736450195 + ], + [ + 1.5522817373275757, + 0.7502080202102661, + 1.0992326736450195 + ], + [ + 1.5522818565368652, + 0.7502075433731079, + 1.1853973865509033 + ], + [ + 1.4982835054397583, + 0.7546969652175903, + 1.1853973865509033 + ], + [ + 1.4982833862304688, + 0.7546974420547485, + 1.0992326736450195 + ], + [ + 1.5522817373275757, + 0.7546975612640381, + 1.0992326736450195 + ], + [ + 1.5522818565368652, + 0.7546971440315247, + 1.1853973865509033 + ] + ] + } + } + }, + { + "objectId": "door|1|2", + "object_info": { + "name": "door|1|2", + "position": { + "x": 1.3029286861419678, + "y": -0.0005983114242553711, + "z": 5.000084638595581e-05 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.003297805786133, + "objectType": "Doorway", + "objectId": "door|1|2", + "assetId": "Doorway_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.3050156831741333, + 2.0993974208831787, + 0.08589108288288116 + ], + [ + 1.3050156831741333, + 2.0993974208831787, + -0.08589108288288116 + ], + [ + 1.3050156831741333, + 0.0, + 0.08589108288288116 + ], + [ + 1.3050156831741333, + 0.0, + -0.08589108288288116 + ], + [ + 0.25450730323791504, + 2.0993974208831787, + 0.08589108288288116 + ], + [ + 0.25450730323791504, + 2.0993974208831787, + -0.08589108288288116 + ], + [ + 0.25450730323791504, + 0.0, + 0.08589108288288116 + ], + [ + 0.25450730323791504, + 0.0, + -0.08589108288288116 + ] + ], + "center": { + "x": 0.7797614932060242, + "y": 1.0496987104415894, + "z": 0.0 + }, + "size": { + "x": 1.0505083799362183, + "y": 2.0993974208831787, + "z": 0.17178216576576233 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mug|surface|2|13", + "object_info": { + "name": "Mug|surface|2|13", + "position": { + "x": 1.5696877241134644, + "y": 0.7502080202102661, + "z": 0.6375522017478943 + }, + "rotation": { + "x": -0.0012304726988077164, + "y": 270.000244140625, + "z": 0.00014794395247008651 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [ + "Desk|2|5" + ], + "distance": 2.3726367950439453, + "objectType": "Mug", + "objectId": "Mug|surface|2|13", + "assetId": "RoboTHOR_mug_ai2_2_v", + "parentReceptacles": [ + "Desk|2|5" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.614173173904419, + 0.8549802303314209, + 0.6791871786117554 + ], + [ + 1.614173173904419, + 0.8549802303314209, + 0.551753044128418 + ], + [ + 1.614173173904419, + 0.7502070665359497, + 0.6791871786117554 + ], + [ + 1.614173173904419, + 0.7502070665359497, + 0.551753044128418 + ], + [ + 1.5252044200897217, + 0.8549802303314209, + 0.6791871786117554 + ], + [ + 1.5252044200897217, + 0.8549802303314209, + 0.551753044128418 + ], + [ + 1.5252044200897217, + 0.7502070665359497, + 0.6791871786117554 + ], + [ + 1.5252044200897217, + 0.7502070665359497, + 0.551753044128418 + ] + ], + "center": { + "x": 1.5696887969970703, + "y": 0.8025936484336853, + "z": 0.6154701113700867 + }, + "size": { + "x": 0.08896875381469727, + "y": 0.10477316379547119, + "z": 0.1274341344833374 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5252044200897217, + 0.7502087950706482, + 0.6791873574256897 + ], + [ + 1.5252039432525635, + 0.7502084970474243, + 0.5517526268959045 + ], + [ + 1.614170789718628, + 0.7502065896987915, + 0.5517522692680359 + ], + [ + 1.6141713857650757, + 0.7502068877220154, + 0.679186999797821 + ], + [ + 1.5252066850662231, + 0.8549808859825134, + 0.6791870594024658 + ], + [ + 1.5252060890197754, + 0.8549805879592896, + 0.5517523884773254 + ], + [ + 1.6141730546951294, + 0.8549786806106567, + 0.5517520308494568 + ], + [ + 1.6141735315322876, + 0.8549789786338806, + 0.6791867017745972 + ] + ] + } + } + }, + { + "objectId": "Desk|2|5", + "object_info": { + "name": "Desk|2|5", + "position": { + "x": 1.525282621383667, + "y": 1.5348196029663086e-05, + "z": 1.0161205530166626 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 34.0, + "salientMaterials": [ + "Wood", + "Metal" + ], + "receptacleObjectIds": [ + "KeyChain|surface|2|12", + "CellPhone|surface|2|17", + "BaseballBat|2|3", + "KeyChain|surface|2|11", + "Mug|surface|2|13", + "CreditCard|surface|2|9" + ], + "distance": 2.2066524028778076, + "objectType": "Desk", + "objectId": "Desk|2|5", + "assetId": "RoboTHOR_desk_fjallbo_v", + "parentReceptacles": [ + "Floor", + "Mug|surface|2|13" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.703864336013794, + 0.7502079606056213, + 1.5161211490631104 + ], + [ + 1.703864336013794, + 0.7502079606056213, + 0.516120195388794 + ], + [ + 1.703864336013794, + 1.4781951904296875e-05, + 1.5161211490631104 + ], + [ + 1.703864336013794, + 1.4781951904296875e-05, + 0.516120195388794 + ], + [ + 1.3466308116912842, + 0.7502079606056213, + 1.5161211490631104 + ], + [ + 1.3466308116912842, + 0.7502079606056213, + 0.516120195388794 + ], + [ + 1.3466308116912842, + 1.4781951904296875e-05, + 1.5161211490631104 + ], + [ + 1.3466308116912842, + 1.4781951904296875e-05, + 0.516120195388794 + ] + ], + "center": { + "x": 1.525247573852539, + "y": 0.3751113712787628, + "z": 1.0161206722259521 + }, + "size": { + "x": 0.35723352432250977, + "y": 0.750193178653717, + "z": 1.0000009536743164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3466309309005737, + 1.5348196029663086e-05, + 1.5161206722259521 + ], + [ + 1.3466310501098633, + 1.5348196029663086e-05, + 0.5161204934120178 + ], + [ + 1.7038640975952148, + 1.5348196029663086e-05, + 0.5161204934120178 + ], + [ + 1.7038639783859253, + 1.5348196029663086e-05, + 1.5161206722259521 + ], + [ + 1.3466309309005737, + 0.7502076625823975, + 1.5161206722259521 + ], + [ + 1.3466310501098633, + 0.7502076625823975, + 0.5161204934120178 + ], + [ + 1.7038640975952148, + 0.7502076625823975, + 0.5161204934120178 + ], + [ + 1.7038639783859253, + 0.7502076625823975, + 1.5161206722259521 + ] + ] + } + } + }, + { + "objectId": "Bed|2|0", + "object_info": { + "name": "Bed|2|0", + "position": { + "x": 2.290079355239868, + "y": 0.0007697045803070068, + "z": 2.8368136882781982 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": true, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 29.999998092651367, + "salientMaterials": [ + "Wood", + "Fabric" + ], + "receptacleObjectIds": [ + "Book|surface|2|19", + "Pillow|surface|2|10", + "RemoteControl|surface|2|15", + "Book|surface|2|20", + "BasketBall|surface|2|0" + ], + "distance": 2.0055758953094482, + "objectType": "Bed", + "objectId": "Bed|2|0", + "assetId": "Bed_26_2", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.437999725341797, + 0.7116315364837646, + 3.437999725341797 + ], + [ + 3.437999725341797, + 0.7116315364837646, + 2.2286243438720703 + ], + [ + 3.437999725341797, + 3.5762786865234375e-07, + 3.437999725341797 + ], + [ + 3.437999725341797, + 3.5762786865234375e-07, + 2.2286243438720703 + ], + [ + 1.064432144165039, + 0.7116315364837646, + 3.437999725341797 + ], + [ + 1.064432144165039, + 0.7116315364837646, + 2.2286243438720703 + ], + [ + 1.064432144165039, + 3.5762786865234375e-07, + 3.437999725341797 + ], + [ + 1.064432144165039, + 3.5762786865234375e-07, + 2.2286243438720703 + ] + ], + "center": { + "x": 2.251215934753418, + "y": 0.35581594705581665, + "z": 2.8333120346069336 + }, + "size": { + "x": 2.373567581176758, + "y": 0.711631178855896, + "z": 1.2093753814697266 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.064432144165039, + 3.2782554626464844e-07, + 3.4379992485046387 + ], + [ + 1.0644323825836182, + 3.2782554626464844e-07, + 2.2286248207092285 + ], + [ + 3.437999725341797, + 3.2782554626464844e-07, + 2.2286252975463867 + ], + [ + 3.4379994869232178, + 3.2782554626464844e-07, + 3.437999725341797 + ], + [ + 1.064432144165039, + 0.7116314172744751, + 3.4379992485046387 + ], + [ + 1.0644323825836182, + 0.7116314172744751, + 2.2286248207092285 + ], + [ + 3.437999725341797, + 0.7116314172744751, + 2.2286252975463867 + ], + [ + 3.4379994869232178, + 0.7116314172744751, + 3.437999725341797 + ] + ] + } + } + }, + { + "objectId": "Pen|surface|2|3", + "object_info": { + "name": "Pen|surface|2|3", + "position": { + "x": 0.12510009109973907, + "y": 1.1573129892349243, + "z": 1.3518699407577515 + }, + "rotation": { + "x": 2.9473534596036188e-05, + "y": 89.99995422363281, + "z": 359.9810485839844 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.4700387716293335, + "objectType": "Pen", + "objectId": "Pen|surface|2|3", + "assetId": "Pen_1", + "parentReceptacles": [ + "Dresser|2|1" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2314990758895874, + 1.1629579067230225, + 1.3575149774551392 + ], + [ + 0.2314990758895874, + 1.1629579067230225, + 1.3462249040603638 + ], + [ + 0.2314990758895874, + 1.1516680717468262, + 1.3575149774551392 + ], + [ + 0.2314990758895874, + 1.1516680717468262, + 1.3462249040603638 + ], + [ + 0.03166112303733826, + 1.1629579067230225, + 1.3575149774551392 + ], + [ + 0.03166112303733826, + 1.1629579067230225, + 1.3462249040603638 + ], + [ + 0.03166112303733826, + 1.1516680717468262, + 1.3575149774551392 + ], + [ + 0.03166112303733826, + 1.1516680717468262, + 1.3462249040603638 + ] + ], + "center": { + "x": 0.13158009946346283, + "y": 1.1573129892349243, + "z": 1.3518699407577515 + }, + "size": { + "x": 0.19983795285224915, + "y": 0.011289834976196289, + "z": 0.01129007339477539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2314991056919098, + 1.1516661643981934, + 1.346226692199707 + ], + [ + 0.2314990907907486, + 1.151669979095459, + 1.3575170040130615 + ], + [ + 0.031661100685596466, + 1.1516700983047485, + 1.357516884803772 + ], + [ + 0.03166111558675766, + 1.151666283607483, + 1.3462265729904175 + ], + [ + 0.2314991056919098, + 1.1629558801651, + 1.346222996711731 + ], + [ + 0.2314990907907486, + 1.1629596948623657, + 1.357513189315796 + ], + [ + 0.031661100685596466, + 1.1629598140716553, + 1.3575130701065063 + ], + [ + 0.03166111558675766, + 1.1629559993743896, + 1.3462228775024414 + ] + ] + } + } + }, + { + "objectId": "Chair|2|2", + "object_info": { + "name": "Chair|2|2", + "position": { + "x": 3.1780567169189453, + "y": 0.0005688071250915527, + "z": 1.9582728147506714 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 10.0, + "salientMaterials": [ + "Metal", + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 2.934211254119873, + "objectType": "Chair", + "objectId": "Chair|2|2", + "assetId": "Chair_205_4", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.4378042221069336, + 0.8749220371246338, + 2.1729471683502197 + ], + [ + 3.4378042221069336, + 0.8749220371246338, + 1.7559962272644043 + ], + [ + 3.4378042221069336, + -1.7017126083374023e-05, + 2.1729471683502197 + ], + [ + 3.4378042221069336, + -1.7017126083374023e-05, + 1.7559962272644043 + ], + [ + 2.9698286056518555, + 0.8749220371246338, + 2.1729471683502197 + ], + [ + 2.9698286056518555, + 0.8749220371246338, + 1.7559962272644043 + ], + [ + 2.9698286056518555, + -1.7017126083374023e-05, + 2.1729471683502197 + ], + [ + 2.9698286056518555, + -1.7017126083374023e-05, + 1.7559962272644043 + ] + ], + "center": { + "x": 3.2038164138793945, + "y": 0.4374525249004364, + "z": 1.964471697807312 + }, + "size": { + "x": 0.4679756164550781, + "y": 0.8749390840530396, + "z": 0.41695094108581543 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 2.9698293209075928, + -1.677870750427246e-05, + 2.172947406768799 + ], + [ + 2.9698293209075928, + -1.677870750427246e-05, + 1.7559962272644043 + ], + [ + 3.4378042221069336, + -1.677870750427246e-05, + 1.7559963464736938 + ], + [ + 3.4378042221069336, + -1.677870750427246e-05, + 2.172947406768799 + ], + [ + 2.9698293209075928, + 0.8749216198921204, + 2.172947406768799 + ], + [ + 2.9698293209075928, + 0.8749216198921204, + 1.7559962272644043 + ], + [ + 3.4378042221069336, + 0.8749216198921204, + 1.7559963464736938 + ], + [ + 3.4378042221069336, + 0.8749216198921204, + 2.172947406768799 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|2|3", + "object_info": { + "name": "BaseballBat|2|3", + "position": { + "x": 1.562258243560791, + "y": 0.7946795225143433, + "z": 1.6477712392807007 + }, + "rotation": { + "x": 270.1203308105469, + "y": 356.76202392578125, + "z": 40.22767639160156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.534472107887268, + "objectType": "BaseballBat", + "objectId": "BaseballBat|2|3", + "assetId": "BaseballBat_4", + "parentReceptacles": [ + "Desk|2|5" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7585065364837646, + 0.8405961394309998, + 1.8909165859222412 + ], + [ + 1.7585065364837646, + 0.8405961394309998, + 1.0763049125671387 + ], + [ + 1.7585065364837646, + 0.7494366765022278, + 1.8909165859222412 + ], + [ + 1.7585065364837646, + 0.7494366765022278, + 1.0763049125671387 + ], + [ + 1.1171112060546875, + 0.8405961394309998, + 1.8909165859222412 + ], + [ + 1.1171112060546875, + 0.8405961394309998, + 1.0763049125671387 + ], + [ + 1.1171112060546875, + 0.7494366765022278, + 1.8909165859222412 + ], + [ + 1.1171112060546875, + 0.7494366765022278, + 1.0763049125671387 + ] + ], + "center": { + "x": 1.437808871269226, + "y": 0.7950164079666138, + "z": 1.48361074924469 + }, + "size": { + "x": 0.6413953304290771, + "y": 0.09115946292877197, + "z": 0.8146116733551025 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.7585015296936035, + 0.8390241861343384, + 1.842309832572937 + ], + [ + 1.6939738988876343, + 0.8389121294021606, + 1.8909167051315308 + ], + [ + 1.6939847469329834, + 0.7494366765022278, + 1.8907248973846436 + ], + [ + 1.7585123777389526, + 0.7495486736297607, + 1.8421180248260498 + ], + [ + 1.1816327571868896, + 0.840596079826355, + 1.0764961242675781 + ], + [ + 1.1171051263809204, + 0.8404840230941772, + 1.1251029968261719 + ], + [ + 1.1171159744262695, + 0.7510085105895996, + 1.1249110698699951 + ], + [ + 1.1816436052322388, + 0.7511205673217773, + 1.0763041973114014 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___1", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 0.18728360533714294, + "y": 0.6808571815490723, + "z": 1.1576499938964844 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.6376302242279053, + "objectType": "Drawer", + "objectId": "Dresser|2|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2987596392631531, + 0.8323848247528076, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.8323848247528076, + 0.8256094455718994 + ], + [ + 0.2987596392631531, + 0.5811355113983154, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.5811355113983154, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.8323848247528076, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.8323848247528076, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.5811355113983154, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.5811355113983154, + 0.8256094455718994 + ] + ], + "center": { + "x": 0.17446386814117432, + "y": 0.7067601680755615, + "z": 1.157650113105774 + }, + "size": { + "x": 0.24859154224395752, + "y": 0.2512493133544922, + "z": 0.664081335067749 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 0.16280868649482727, + "y": 0.0008056163787841797, + "z": 1.1580026149749756 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "AlarmClock|surface|2|6", + "TissueBox|surface|2|18", + "CD|surface|2|5", + "Pen|surface|2|3" + ], + "distance": 1.8597050905227661, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "Dresser_413_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.29014307260513306, + 1.1516683101654053, + 1.550062894821167 + ], + [ + 0.29014307260513306, + 1.1516683101654053, + 0.7659423351287842 + ], + [ + 0.29014307260513306, + -1.1920928955078125e-06, + 1.550062894821167 + ], + [ + 0.29014307260513306, + -1.1920928955078125e-06, + 0.7659423351287842 + ], + [ + 0.024999842047691345, + 1.1516683101654053, + 1.550062894821167 + ], + [ + 0.024999842047691345, + 1.1516683101654053, + 0.7659423351287842 + ], + [ + 0.024999842047691345, + -1.1920928955078125e-06, + 1.550062894821167 + ], + [ + 0.024999842047691345, + -1.1920928955078125e-06, + 0.7659423351287842 + ] + ], + "center": { + "x": 0.1575714498758316, + "y": 0.5758335590362549, + "z": 1.1580026149749756 + }, + "size": { + "x": 0.2651432156562805, + "y": 1.1516695022583008, + "z": 0.7841205596923828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.29014304280281067, + -1.1920928955078125e-06, + 0.7659424543380737 + ], + [ + 0.2901431620121002, + -1.1920928955078125e-06, + 1.550062894821167 + ], + [ + 0.024999886751174927, + -1.1920928955078125e-06, + 1.550062894821167 + ], + [ + 0.024999767541885376, + -1.1920928955078125e-06, + 0.7659424543380737 + ], + [ + 0.29014304280281067, + 1.151667833328247, + 0.7659424543380737 + ], + [ + 0.2901431620121002, + 1.151667833328247, + 1.550062894821167 + ], + [ + 0.024999886751174927, + 1.151667833328247, + 1.550062894821167 + ], + [ + 0.024999767541885376, + 1.151667833328247, + 0.7659424543380737 + ] + ] + } + } + }, + { + "objectId": "Television|2|6", + "object_info": { + "name": "Television|2|6", + "position": { + "x": 2.605398416519165, + "y": 1.888741135597229, + "z": 1.743841528892517 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.5339081287384033, + "objectType": "Television", + "objectId": "Television|2|6", + "assetId": "Television_27", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.4568896293640137, + 2.415930986404419, + 1.8481359481811523 + ], + [ + 3.4568896293640137, + 2.415930986404419, + 1.7360000610351562 + ], + [ + 3.4568896293640137, + 1.2061614990234375, + 1.8481359481811523 + ], + [ + 3.4568896293640137, + 1.2061614990234375, + 1.7360000610351562 + ], + [ + 1.7539072036743164, + 2.415930986404419, + 1.8481359481811523 + ], + [ + 1.7539072036743164, + 2.415930986404419, + 1.7360000610351562 + ], + [ + 1.7539072036743164, + 1.2061614990234375, + 1.8481359481811523 + ], + [ + 1.7539072036743164, + 1.2061614990234375, + 1.7360000610351562 + ] + ], + "center": { + "x": 2.605398416519165, + "y": 1.8110462427139282, + "z": 1.7920680046081543 + }, + "size": { + "x": 1.7029824256896973, + "y": 1.2097694873809814, + "z": 0.1121358871459961 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___3", + "object_info": { + "name": "Drawer (4)", + "position": { + "x": 0.18728360533714294, + "y": 0.16128958761692047, + "z": 1.157650113105774 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CellPhone|surface|2|16" + ], + "distance": 1.7834070920944214, + "objectType": "Drawer", + "objectId": "Dresser|2|1___3", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2987596392631531, + 0.3128172755241394, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.3128172755241394, + 0.8256094455718994 + ], + [ + 0.2987596392631531, + 0.06156790256500244, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.06156790256500244, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.3128172755241394, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.3128172755241394, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.06156790256500244, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.06156790256500244, + 0.8256094455718994 + ] + ], + "center": { + "x": 0.17446386814117432, + "y": 0.18719258904457092, + "z": 1.157650113105774 + }, + "size": { + "x": 0.24859154224395752, + "y": 0.25124937295913696, + "z": 0.664081335067749 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|2|4", + "object_info": { + "name": "GarbageCan|2|4", + "position": { + "x": 0.21869409084320068, + "y": 4.172325134277344e-07, + "z": 1.9429024457931519 + }, + "rotation": { + "x": 1.1140956303279381e-05, + "y": 89.99995422363281, + "z": -4.065494522365043e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 1.2419095039367676, + "objectType": "GarbageCan", + "objectId": "GarbageCan|2|4", + "assetId": "bin_25", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.41238802671432495, + 0.5262948274612427, + 2.136596441268921 + ], + [ + 0.41238802671432495, + 0.5262948274612427, + 1.749208688735962 + ], + [ + 0.41238802671432495, + 2.980232238769531e-07, + 2.136596441268921 + ], + [ + 0.41238802671432495, + 2.980232238769531e-07, + 1.749208688735962 + ], + [ + 0.025000274181365967, + 0.5262948274612427, + 2.136596441268921 + ], + [ + 0.025000274181365967, + 0.5262948274612427, + 1.749208688735962 + ], + [ + 0.025000274181365967, + 2.980232238769531e-07, + 2.136596441268921 + ], + [ + 0.025000274181365967, + 2.980232238769531e-07, + 1.749208688735962 + ] + ], + "center": { + "x": 0.21869415044784546, + "y": 0.2631475627422333, + "z": 1.9429025650024414 + }, + "size": { + "x": 0.387387752532959, + "y": 0.5262945294380188, + "z": 0.387387752532959 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.4123879671096802, + 1.2740710531033983e-07, + 1.7492088079452515 + ], + [ + 0.4123877286911011, + 1.5489467841689475e-07, + 2.136596441268921 + ], + [ + 0.025000199675559998, + 2.3022076334200392e-07, + 2.1365959644317627 + ], + [ + 0.025000467896461487, + 2.0273321865715843e-07, + 1.7492085695266724 + ], + [ + 0.4123880863189697, + 0.5262947082519531, + 1.7492088079452515 + ], + [ + 0.41238781809806824, + 0.5262947082519531, + 2.136596202850342 + ], + [ + 0.025000303983688354, + 0.5262948274612427, + 2.1365959644317627 + ], + [ + 0.025000572204589844, + 0.5262948274612427, + 1.7492084503173828 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|2|4", + "object_info": { + "name": "Watch|surface|2|4", + "position": { + "x": 1.3912206888198853, + "y": 0.6256394982337952, + "z": 0.6672267913818359 + }, + "rotation": { + "x": 1.9004578590393066, + "y": 270.0083312988281, + "z": 1.3189380168914795 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.282113552093506, + "objectType": "Watch", + "objectId": "Watch|surface|2|4", + "assetId": "Watch_1", + "parentReceptacles": [ + "Floor", + "Desk|2|5___0" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.417060375213623, + 0.6608041524887085, + 0.7067966461181641 + ], + [ + 1.417060375213623, + 0.6608041524887085, + 0.6278884410858154 + ], + [ + 1.417060375213623, + 0.6253154277801514, + 0.7067966461181641 + ], + [ + 1.417060375213623, + 0.6253154277801514, + 0.6278884410858154 + ], + [ + 1.3687257766723633, + 0.6608041524887085, + 0.7067966461181641 + ], + [ + 1.3687257766723633, + 0.6608041524887085, + 0.6278884410858154 + ], + [ + 1.3687257766723633, + 0.6253154277801514, + 0.7067966461181641 + ], + [ + 1.3687257766723633, + 0.6253154277801514, + 0.6278884410858154 + ] + ], + "center": { + "x": 1.3928930759429932, + "y": 0.6430597901344299, + "z": 0.6673425436019897 + }, + "size": { + "x": 0.048334598541259766, + "y": 0.03548872470855713, + "z": 0.07890820503234863 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3688113689422607, + 0.6245996952056885, + 0.7069577574729919 + ], + [ + 1.368859887123108, + 0.6227924823760986, + 0.6284213662147522 + ], + [ + 1.417612910270691, + 0.6244101524353027, + 0.6284142732620239 + ], + [ + 1.4175643920898438, + 0.6262173652648926, + 0.7069506645202637 + ], + [ + 1.3675941228866577, + 0.661281406879425, + 0.7061129212379456 + ], + [ + 1.3676426410675049, + 0.6594741940498352, + 0.6275765299797058 + ], + [ + 1.416395664215088, + 0.6610918641090393, + 0.6275694370269775 + ], + [ + 1.4163470268249512, + 0.6628990769386292, + 0.7061058282852173 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|17", + "object_info": { + "name": "CellPhone|surface|2|17", + "position": { + "x": 1.4809045791625977, + "y": 0.7509581446647644, + "z": 0.6377400755882263 + }, + "rotation": { + "x": -0.0007403909112326801, + "y": 0.11716266721487045, + "z": 0.0006590941338799894 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.3337368965148926, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|17", + "assetId": "Cellphone_4", + "parentReceptacles": [ + "Desk|2|5" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5252560377120972, + 0.7604283690452576, + 0.7286569476127625 + ], + [ + 1.5252560377120972, + 0.7604283690452576, + 0.5483832955360413 + ], + [ + 1.5252560377120972, + 0.750205934047699, + 0.7286569476127625 + ], + [ + 1.5252560377120972, + 0.750205934047699, + 0.5483832955360413 + ], + [ + 1.4365562200546265, + 0.7604283690452576, + 0.7286569476127625 + ], + [ + 1.4365562200546265, + 0.7604283690452576, + 0.5483832955360413 + ], + [ + 1.4365562200546265, + 0.750205934047699, + 0.7286569476127625 + ], + [ + 1.4365562200546265, + 0.750205934047699, + 0.5483832955360413 + ] + ], + "center": { + "x": 1.4809061288833618, + "y": 0.7553171515464783, + "z": 0.6385201215744019 + }, + "size": { + "x": 0.0886998176574707, + "y": 0.010222434997558594, + "z": 0.1802736520767212 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5252560377120972, + 0.7502092719078064, + 0.7284762859344482 + ], + [ + 1.436924695968628, + 0.7502081990242004, + 0.7286568880081177 + ], + [ + 1.436556339263916, + 0.7502058744430542, + 0.548564076423645 + ], + [ + 1.5248876810073853, + 0.7502068877220154, + 0.5483834743499756 + ], + [ + 1.5252559185028076, + 0.7604284286499023, + 0.7284761667251587 + ], + [ + 1.4369244575500488, + 0.7604274153709412, + 0.7286567687988281 + ], + [ + 1.4365562200546265, + 0.7604250907897949, + 0.5485639572143555 + ], + [ + 1.5248875617980957, + 0.7604261040687561, + 0.548383355140686 + ] + ] + } + } + }, + { + "objectId": "window|2|0", + "object_info": { + "name": "window|2|0", + "position": { + "x": 4.951361916027963e-07, + "y": 0.624384880065918, + "z": 2.439664363861084 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": true, + "isInteractable": true, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 0.6502488255500793, + "objectType": "Window", + "objectId": "window|2|0", + "assetId": "Window_Hung_32x60", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.1212821826338768, + 2.2034459114074707, + 3.304600477218628 + ], + [ + 0.1212821826338768, + 2.2034459114074707, + 2.4387428760528564 + ], + [ + 0.1212821826338768, + 0.623267650604248, + 3.304600477218628 + ], + [ + 0.1212821826338768, + 0.623267650604248, + 2.4387428760528564 + ], + [ + -0.12128222733736038, + 2.2034459114074707, + 3.304600477218628 + ], + [ + -0.12128222733736038, + 2.2034459114074707, + 2.4387428760528564 + ], + [ + -0.12128222733736038, + 0.623267650604248, + 3.304600477218628 + ], + [ + -0.12128222733736038, + 0.623267650604248, + 2.4387428760528564 + ] + ], + "center": { + "x": -2.2351741790771484e-08, + "y": 1.4133567810058594, + "z": 2.871671676635742 + }, + "size": { + "x": 0.24256440997123718, + "y": 1.5801782608032227, + "z": 0.8658576011657715 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "TissueBox|surface|2|18", + "object_info": { + "name": "TissueBox|surface|2|18", + "position": { + "x": 0.1896684169769287, + "y": 1.1527113914489746, + "z": 1.1580026149749756 + }, + "rotation": { + "x": 1.1337818250467535e-05, + "y": 89.9999008178711, + "z": -4.358624209999107e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.3499999940395355, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.6413774490356445, + "objectType": "TissueBox", + "objectId": "TissueBox|surface|2|18", + "assetId": "Tissue_Box_1", + "parentReceptacles": [ + "Dresser|2|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.24042558670043945, + 1.3016996383666992, + 1.2574137449264526 + ], + [ + 0.24042558670043945, + 1.3016996383666992, + 1.0585914850234985 + ], + [ + 0.24042558670043945, + 1.1516680717468262, + 1.2574137449264526 + ], + [ + 0.24042558670043945, + 1.1516680717468262, + 1.0585914850234985 + ], + [ + 0.13891127705574036, + 1.3016996383666992, + 1.2574137449264526 + ], + [ + 0.13891127705574036, + 1.3016996383666992, + 1.0585914850234985 + ], + [ + 0.13891127705574036, + 1.1516680717468262, + 1.2574137449264526 + ], + [ + 0.13891127705574036, + 1.1516680717468262, + 1.0585914850234985 + ] + ], + "center": { + "x": 0.1896684318780899, + "y": 1.2266838550567627, + "z": 1.1580026149749756 + }, + "size": { + "x": 0.1015143096446991, + "y": 0.15003156661987305, + "z": 0.1988222599029541 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.24042584002017975, + 1.1516679525375366, + 1.0585914850234985 + ], + [ + 0.2404254972934723, + 1.1516679525375366, + 1.2574137449264526 + ], + [ + 0.1389114260673523, + 1.1516679525375366, + 1.257413625717163 + ], + [ + 0.13891176879405975, + 1.1516679525375366, + 1.058591365814209 + ], + [ + 0.24042586982250214, + 1.3016998767852783, + 1.0585914850234985 + ], + [ + 0.24042552709579468, + 1.3016998767852783, + 1.2574137449264526 + ], + [ + 0.13891145586967468, + 1.3016998767852783, + 1.257413625717163 + ], + [ + 0.13891179859638214, + 1.3016998767852783, + 1.0585912466049194 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___2", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 0.18728360533714294, + "y": 0.420901894569397, + "z": 1.157650113105774 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Vase|surface|2|14" + ], + "distance": 1.6922954320907593, + "objectType": "Drawer", + "objectId": "Dresser|2|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2987596392631531, + 0.5724295377731323, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.5724295377731323, + 0.8256094455718994 + ], + [ + 0.2987596392631531, + 0.32118022441864014, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.32118022441864014, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.5724295377731323, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.5724295377731323, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.32118022441864014, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.32118022441864014, + 0.8256094455718994 + ] + ], + "center": { + "x": 0.17446386814117432, + "y": 0.44680488109588623, + "z": 1.157650113105774 + }, + "size": { + "x": 0.24859154224395752, + "y": 0.2512493133544922, + "z": 0.664081335067749 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___0", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 0.18728460371494293, + "y": 0.9410534501075745, + "z": 1.1576499938964844 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.623260259628296, + "objectType": "Drawer", + "objectId": "Dresser|2|1___0", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.29876062273979187, + 1.0925811529159546, + 1.4896907806396484 + ], + [ + 0.29876062273979187, + 1.0925811529159546, + 0.8256094455718994 + ], + [ + 0.29876062273979187, + 0.8413318395614624, + 1.4896907806396484 + ], + [ + 0.29876062273979187, + 0.8413318395614624, + 0.8256094455718994 + ], + [ + 0.05016908049583435, + 1.0925811529159546, + 1.4896907806396484 + ], + [ + 0.05016908049583435, + 1.0925811529159546, + 0.8256094455718994 + ], + [ + 0.05016908049583435, + 0.8413318395614624, + 1.4896907806396484 + ], + [ + 0.05016908049583435, + 0.8413318395614624, + 0.8256094455718994 + ] + ], + "center": { + "x": 0.1744648516178131, + "y": 0.9669564962387085, + "z": 1.157650113105774 + }, + "size": { + "x": 0.24859154224395752, + "y": 0.2512493133544922, + "z": 0.664081335067749 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 0.699999988079071, + "y": 0.9009997844696045, + "z": 2.799999952316284 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 60.00001525878906, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 0.699999988079071, + "y": 1.5759997367858887, + "z": 2.799999952316284 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|1|2", + "Dresser|2|1", + "Pen|surface|2|3", + "Dresser|2|1___3", + "Television|2|6", + "CellPhone|surface|2|17", + "TissueBox|surface|2|18", + "CreditCard|surface|2|9", + "GarbageCan|2|4", + "Dresser|2|1___1", + "Watch|surface|2|4", + "Desk|2|5", + "Mug|surface|2|13", + "Dresser|2|1___2", + "Dresser|2|1___0", + "BaseballBat|2|3" + ], + "different_object": [ + "Chair|2|2", + "window|2|0", + "Bed|2|0" + ] +} \ No newline at end of file diff --git a/train/train616/2/0_depth_npy.npy b/train/train616/2/0_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a79fb16d04df5b287162e0a73685f1229045562a --- /dev/null +++ b/train/train616/2/0_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af82fee5f77c4a3507f9cdb1c3156a0bb88c320c7a0043d4c9a79f75737ff5cb +size 3145856 diff --git a/train/train616/2/0_semantic_sensor_npy.npy b/train/train616/2/0_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..260742115d9efc7966567451fdc8d8b887280b6a --- /dev/null +++ b/train/train616/2/0_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dac211ec7be5657f32e34a5841bbfb403bc1c9aee0466f406eeb6c1129f9367e +size 2359424 diff --git a/train/train616/2/1.json b/train/train616/2/1.json new file mode 100644 index 0000000000000000000000000000000000000000..24dec257cad833610fcd795f1f8813e8cc3dfd70 --- /dev/null +++ b/train/train616/2/1.json @@ -0,0 +1,2551 @@ +{ + "object": [ + { + "objectId": "CreditCard|surface|2|9", + "object_info": { + "name": "CreditCard|surface|2|9", + "position": { + "x": 1.525282621383667, + "y": 0.7505524754524231, + "z": 1.1423150300979614 + }, + "rotation": { + "x": 0.00015301209350582212, + "y": 270.00006103515625, + "z": -0.000307622947730124 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 1.9127179384231567, + "objectType": "CreditCard", + "objectId": "CreditCard|surface|2|9", + "assetId": "CreditCard_1", + "parentReceptacles": [ + "Desk|2|5" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5522818565368652, + 0.7546975612640381, + 1.1853973865509033 + ], + [ + 1.5522818565368652, + 0.7546975612640381, + 1.0992326736450195 + ], + [ + 1.5522818565368652, + 0.7502074241638184, + 1.1853973865509033 + ], + [ + 1.5522818565368652, + 0.7502074241638184, + 1.0992326736450195 + ], + [ + 1.4982833862304688, + 0.7546975612640381, + 1.1853973865509033 + ], + [ + 1.4982833862304688, + 0.7546975612640381, + 1.0992326736450195 + ], + [ + 1.4982833862304688, + 0.7502074241638184, + 1.1853973865509033 + ], + [ + 1.4982833862304688, + 0.7502074241638184, + 1.0992326736450195 + ] + ], + "center": { + "x": 1.525282621383667, + "y": 0.7524524927139282, + "z": 1.1423150300979614 + }, + "size": { + "x": 0.053998470306396484, + "y": 0.0044901371002197266, + "z": 0.08616471290588379 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.4982835054397583, + 0.7502074241638184, + 1.1853973865509033 + ], + [ + 1.4982833862304688, + 0.7502078413963318, + 1.0992326736450195 + ], + [ + 1.5522817373275757, + 0.7502080202102661, + 1.0992326736450195 + ], + [ + 1.5522818565368652, + 0.7502075433731079, + 1.1853973865509033 + ], + [ + 1.4982835054397583, + 0.7546969652175903, + 1.1853973865509033 + ], + [ + 1.4982833862304688, + 0.7546974420547485, + 1.0992326736450195 + ], + [ + 1.5522817373275757, + 0.7546975612640381, + 1.0992326736450195 + ], + [ + 1.5522818565368652, + 0.7546971440315247, + 1.1853973865509033 + ] + ] + } + } + }, + { + "objectId": "door|1|2", + "object_info": { + "name": "door|1|2", + "position": { + "x": 1.3029286861419678, + "y": -0.0005983114242553711, + "z": 5.000084638595581e-05 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": null, + "distance": 3.003297805786133, + "objectType": "Doorway", + "objectId": "door|1|2", + "assetId": "Doorway_8", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.3050156831741333, + 2.0993974208831787, + 0.08589108288288116 + ], + [ + 1.3050156831741333, + 2.0993974208831787, + -0.08589108288288116 + ], + [ + 1.3050156831741333, + 0.0, + 0.08589108288288116 + ], + [ + 1.3050156831741333, + 0.0, + -0.08589108288288116 + ], + [ + 0.25450730323791504, + 2.0993974208831787, + 0.08589108288288116 + ], + [ + 0.25450730323791504, + 2.0993974208831787, + -0.08589108288288116 + ], + [ + 0.25450730323791504, + 0.0, + 0.08589108288288116 + ], + [ + 0.25450730323791504, + 0.0, + -0.08589108288288116 + ] + ], + "center": { + "x": 0.7797614932060242, + "y": 1.0496987104415894, + "z": 0.0 + }, + "size": { + "x": 1.0505083799362183, + "y": 2.0993974208831787, + "z": 0.17178216576576233 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Mug|surface|2|13", + "object_info": { + "name": "Mug|surface|2|13", + "position": { + "x": 1.5696877241134644, + "y": 0.7502080202102661, + "z": 0.6375522017478943 + }, + "rotation": { + "x": -0.0012304726988077164, + "y": 270.000244140625, + "z": 0.00014794395247008651 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Ceramic" + ], + "receptacleObjectIds": [ + "Desk|2|5" + ], + "distance": 2.3726367950439453, + "objectType": "Mug", + "objectId": "Mug|surface|2|13", + "assetId": "RoboTHOR_mug_ai2_2_v", + "parentReceptacles": [ + "Desk|2|5" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.614173173904419, + 0.8549802303314209, + 0.6791871786117554 + ], + [ + 1.614173173904419, + 0.8549802303314209, + 0.551753044128418 + ], + [ + 1.614173173904419, + 0.7502070665359497, + 0.6791871786117554 + ], + [ + 1.614173173904419, + 0.7502070665359497, + 0.551753044128418 + ], + [ + 1.5252044200897217, + 0.8549802303314209, + 0.6791871786117554 + ], + [ + 1.5252044200897217, + 0.8549802303314209, + 0.551753044128418 + ], + [ + 1.5252044200897217, + 0.7502070665359497, + 0.6791871786117554 + ], + [ + 1.5252044200897217, + 0.7502070665359497, + 0.551753044128418 + ] + ], + "center": { + "x": 1.5696887969970703, + "y": 0.8025936484336853, + "z": 0.6154701113700867 + }, + "size": { + "x": 0.08896875381469727, + "y": 0.10477316379547119, + "z": 0.1274341344833374 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5252044200897217, + 0.7502087950706482, + 0.6791873574256897 + ], + [ + 1.5252039432525635, + 0.7502084970474243, + 0.5517526268959045 + ], + [ + 1.614170789718628, + 0.7502065896987915, + 0.5517522692680359 + ], + [ + 1.6141713857650757, + 0.7502068877220154, + 0.679186999797821 + ], + [ + 1.5252066850662231, + 0.8549808859825134, + 0.6791870594024658 + ], + [ + 1.5252060890197754, + 0.8549805879592896, + 0.5517523884773254 + ], + [ + 1.6141730546951294, + 0.8549786806106567, + 0.5517520308494568 + ], + [ + 1.6141735315322876, + 0.8549789786338806, + 0.6791867017745972 + ] + ] + } + } + }, + { + "objectId": "Desk|2|5", + "object_info": { + "name": "Desk|2|5", + "position": { + "x": 1.525282621383667, + "y": 1.5348196029663086e-05, + "z": 1.0161205530166626 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 34.0, + "salientMaterials": [ + "Wood", + "Metal" + ], + "receptacleObjectIds": [ + "KeyChain|surface|2|12", + "CellPhone|surface|2|17", + "BaseballBat|2|3", + "KeyChain|surface|2|11", + "Mug|surface|2|13", + "CreditCard|surface|2|9" + ], + "distance": 2.2066524028778076, + "objectType": "Desk", + "objectId": "Desk|2|5", + "assetId": "RoboTHOR_desk_fjallbo_v", + "parentReceptacles": [ + "Floor", + "Mug|surface|2|13" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.703864336013794, + 0.7502079606056213, + 1.5161211490631104 + ], + [ + 1.703864336013794, + 0.7502079606056213, + 0.516120195388794 + ], + [ + 1.703864336013794, + 1.4781951904296875e-05, + 1.5161211490631104 + ], + [ + 1.703864336013794, + 1.4781951904296875e-05, + 0.516120195388794 + ], + [ + 1.3466308116912842, + 0.7502079606056213, + 1.5161211490631104 + ], + [ + 1.3466308116912842, + 0.7502079606056213, + 0.516120195388794 + ], + [ + 1.3466308116912842, + 1.4781951904296875e-05, + 1.5161211490631104 + ], + [ + 1.3466308116912842, + 1.4781951904296875e-05, + 0.516120195388794 + ] + ], + "center": { + "x": 1.525247573852539, + "y": 0.3751113712787628, + "z": 1.0161206722259521 + }, + "size": { + "x": 0.35723352432250977, + "y": 0.750193178653717, + "z": 1.0000009536743164 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3466309309005737, + 1.5348196029663086e-05, + 1.5161206722259521 + ], + [ + 1.3466310501098633, + 1.5348196029663086e-05, + 0.5161204934120178 + ], + [ + 1.7038640975952148, + 1.5348196029663086e-05, + 0.5161204934120178 + ], + [ + 1.7038639783859253, + 1.5348196029663086e-05, + 1.5161206722259521 + ], + [ + 1.3466309309005737, + 0.7502076625823975, + 1.5161206722259521 + ], + [ + 1.3466310501098633, + 0.7502076625823975, + 0.5161204934120178 + ], + [ + 1.7038640975952148, + 0.7502076625823975, + 0.5161204934120178 + ], + [ + 1.7038639783859253, + 0.7502076625823975, + 1.5161206722259521 + ] + ] + } + } + }, + { + "objectId": "Painting|2|7", + "object_info": { + "name": "Painting|2|7", + "position": { + "x": 0.006129627116024494, + "y": 1.6985836029052734, + "z": 0.44684547185897827 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 1.0, + "salientMaterials": [ + "Paper", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.486879348754883, + "objectType": "Painting", + "objectId": "Painting|2|7", + "assetId": "Wall_Decor_Painting_9", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.024149425327777863, + 2.0029876232147217, + 0.6751037836074829 + ], + [ + 0.024149425327777863, + 2.0029876232147217, + 0.21730077266693115 + ], + [ + 0.024149425327777863, + 1.3950855731964111, + 0.6751037836074829 + ], + [ + 0.024149425327777863, + 1.3950855731964111, + 0.21730077266693115 + ], + [ + 0.005000026896595955, + 2.0029876232147217, + 0.6751037836074829 + ], + [ + 0.005000026896595955, + 2.0029876232147217, + 0.21730077266693115 + ], + [ + 0.005000026896595955, + 1.3950855731964111, + 0.6751037836074829 + ], + [ + 0.005000026896595955, + 1.3950855731964111, + 0.21730077266693115 + ] + ], + "center": { + "x": 0.014574726112186909, + "y": 1.6990365982055664, + "z": 0.44620227813720703 + }, + "size": { + "x": 0.019149398431181908, + "y": 0.6079020500183105, + "z": 0.45780301094055176 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Pen|surface|2|3", + "object_info": { + "name": "Pen|surface|2|3", + "position": { + "x": 0.12510009109973907, + "y": 1.1573129892349243, + "z": 1.3518699407577515 + }, + "rotation": { + "x": 2.9473534596036188e-05, + "y": 89.99995422363281, + "z": 359.9810485839844 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.005999999586492777, + "salientMaterials": [ + "Plastic", + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.4700387716293335, + "objectType": "Pen", + "objectId": "Pen|surface|2|3", + "assetId": "Pen_1", + "parentReceptacles": [ + "Dresser|2|1" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2314990758895874, + 1.1629579067230225, + 1.3575149774551392 + ], + [ + 0.2314990758895874, + 1.1629579067230225, + 1.3462249040603638 + ], + [ + 0.2314990758895874, + 1.1516680717468262, + 1.3575149774551392 + ], + [ + 0.2314990758895874, + 1.1516680717468262, + 1.3462249040603638 + ], + [ + 0.03166112303733826, + 1.1629579067230225, + 1.3575149774551392 + ], + [ + 0.03166112303733826, + 1.1629579067230225, + 1.3462249040603638 + ], + [ + 0.03166112303733826, + 1.1516680717468262, + 1.3575149774551392 + ], + [ + 0.03166112303733826, + 1.1516680717468262, + 1.3462249040603638 + ] + ], + "center": { + "x": 0.13158009946346283, + "y": 1.1573129892349243, + "z": 1.3518699407577515 + }, + "size": { + "x": 0.19983795285224915, + "y": 0.011289834976196289, + "z": 0.01129007339477539 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.2314991056919098, + 1.1516661643981934, + 1.346226692199707 + ], + [ + 0.2314990907907486, + 1.151669979095459, + 1.3575170040130615 + ], + [ + 0.031661100685596466, + 1.1516700983047485, + 1.357516884803772 + ], + [ + 0.03166111558675766, + 1.151666283607483, + 1.3462265729904175 + ], + [ + 0.2314991056919098, + 1.1629558801651, + 1.346222996711731 + ], + [ + 0.2314990907907486, + 1.1629596948623657, + 1.357513189315796 + ], + [ + 0.031661100685596466, + 1.1629598140716553, + 1.3575130701065063 + ], + [ + 0.03166111558675766, + 1.1629559993743896, + 1.3462228775024414 + ] + ] + } + } + }, + { + "objectId": "AlarmClock|surface|2|6", + "object_info": { + "name": "AlarmClock|surface|2|6", + "position": { + "x": 0.18966715037822723, + "y": 1.1507248878479004, + "z": 0.9641613960266113 + }, + "rotation": { + "x": 359.64874267578125, + "y": 179.99966430664062, + "z": -0.0015083039179444313 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.800000011920929, + "salientMaterials": [ + "Metal", + "Plastic", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 1.829723596572876, + "objectType": "AlarmClock", + "objectId": "AlarmClock|surface|2|6", + "assetId": "Alarm_Clock_7", + "parentReceptacles": [ + "Dresser|2|1" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2741144299507141, + 1.3801522254943848, + 1.011892557144165 + ], + [ + 0.2741144299507141, + 1.3801522254943848, + 0.9231743812561035 + ], + [ + 0.2741144299507141, + 1.1507582664489746, + 1.011892557144165 + ], + [ + 0.2741144299507141, + 1.1507582664489746, + 0.9231743812561035 + ], + [ + 0.1050146222114563, + 1.3801522254943848, + 1.011892557144165 + ], + [ + 0.1050146222114563, + 1.3801522254943848, + 0.9231743812561035 + ], + [ + 0.1050146222114563, + 1.1507582664489746, + 1.011892557144165 + ], + [ + 0.1050146222114563, + 1.1507582664489746, + 0.9231743812561035 + ] + ], + "center": { + "x": 0.1895645260810852, + "y": 1.2654552459716797, + "z": 0.9675334692001343 + }, + "size": { + "x": 0.1690998077392578, + "y": 0.22939395904541016, + "z": 0.08871817588806152 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.10501734167337418, + 1.15127432346344, + 0.9230931401252747 + ], + [ + 0.2741171419620514, + 1.1512788534164429, + 0.9230942130088806 + ], + [ + 0.2741166353225708, + 1.150740623474121, + 1.0108824968338013 + ], + [ + 0.10501682758331299, + 1.1507362127304077, + 1.0108815431594849 + ], + [ + 0.10501130670309067, + 1.3803486824035645, + 0.9244974851608276 + ], + [ + 0.2741111218929291, + 1.3803530931472778, + 0.9244984984397888 + ], + [ + 0.2741106152534485, + 1.379814863204956, + 1.012286901473999 + ], + [ + 0.10501079261302948, + 1.3798104524612427, + 1.012285828590393 + ] + ] + } + } + }, + { + "objectId": "BaseballBat|2|3", + "object_info": { + "name": "BaseballBat|2|3", + "position": { + "x": 1.562258243560791, + "y": 0.7946795225143433, + "z": 1.6477712392807007 + }, + "rotation": { + "x": 270.1203308105469, + "y": 356.76202392578125, + "z": 40.22767639160156 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.8999999761581421, + "salientMaterials": [ + "Metal" + ], + "receptacleObjectIds": null, + "distance": 1.534472107887268, + "objectType": "BaseballBat", + "objectId": "BaseballBat|2|3", + "assetId": "BaseballBat_4", + "parentReceptacles": [ + "Desk|2|5" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.7585065364837646, + 0.8405961394309998, + 1.8909165859222412 + ], + [ + 1.7585065364837646, + 0.8405961394309998, + 1.0763049125671387 + ], + [ + 1.7585065364837646, + 0.7494366765022278, + 1.8909165859222412 + ], + [ + 1.7585065364837646, + 0.7494366765022278, + 1.0763049125671387 + ], + [ + 1.1171112060546875, + 0.8405961394309998, + 1.8909165859222412 + ], + [ + 1.1171112060546875, + 0.8405961394309998, + 1.0763049125671387 + ], + [ + 1.1171112060546875, + 0.7494366765022278, + 1.8909165859222412 + ], + [ + 1.1171112060546875, + 0.7494366765022278, + 1.0763049125671387 + ] + ], + "center": { + "x": 1.437808871269226, + "y": 0.7950164079666138, + "z": 1.48361074924469 + }, + "size": { + "x": 0.6413953304290771, + "y": 0.09115946292877197, + "z": 0.8146116733551025 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.7585015296936035, + 0.8390241861343384, + 1.842309832572937 + ], + [ + 1.6939738988876343, + 0.8389121294021606, + 1.8909167051315308 + ], + [ + 1.6939847469329834, + 0.7494366765022278, + 1.8907248973846436 + ], + [ + 1.7585123777389526, + 0.7495486736297607, + 1.8421180248260498 + ], + [ + 1.1816327571868896, + 0.840596079826355, + 1.0764961242675781 + ], + [ + 1.1171051263809204, + 0.8404840230941772, + 1.1251029968261719 + ], + [ + 1.1171159744262695, + 0.7510085105895996, + 1.1249110698699951 + ], + [ + 1.1816436052322388, + 0.7511205673217773, + 1.0763041973114014 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___1", + "object_info": { + "name": "Drawer (2)", + "position": { + "x": 0.18728360533714294, + "y": 0.6808571815490723, + "z": 1.1576499938964844 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.6376302242279053, + "objectType": "Drawer", + "objectId": "Dresser|2|1___1", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2987596392631531, + 0.8323848247528076, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.8323848247528076, + 0.8256094455718994 + ], + [ + 0.2987596392631531, + 0.5811355113983154, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.5811355113983154, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.8323848247528076, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.8323848247528076, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.5811355113983154, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.5811355113983154, + 0.8256094455718994 + ] + ], + "center": { + "x": 0.17446386814117432, + "y": 0.7067601680755615, + "z": 1.157650113105774 + }, + "size": { + "x": 0.24859154224395752, + "y": 0.2512493133544922, + "z": 0.664081335067749 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1", + "object_info": { + "name": "Dresser|2|1", + "position": { + "x": 0.16280868649482727, + "y": 0.0008056163787841797, + "z": 1.1580026149749756 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 57.0, + "salientMaterials": [ + "Wood" + ], + "receptacleObjectIds": [ + "AlarmClock|surface|2|6", + "TissueBox|surface|2|18", + "CD|surface|2|5", + "Pen|surface|2|3" + ], + "distance": 1.8597050905227661, + "objectType": "Dresser", + "objectId": "Dresser|2|1", + "assetId": "Dresser_413_1", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.29014307260513306, + 1.1516683101654053, + 1.550062894821167 + ], + [ + 0.29014307260513306, + 1.1516683101654053, + 0.7659423351287842 + ], + [ + 0.29014307260513306, + -1.1920928955078125e-06, + 1.550062894821167 + ], + [ + 0.29014307260513306, + -1.1920928955078125e-06, + 0.7659423351287842 + ], + [ + 0.024999842047691345, + 1.1516683101654053, + 1.550062894821167 + ], + [ + 0.024999842047691345, + 1.1516683101654053, + 0.7659423351287842 + ], + [ + 0.024999842047691345, + -1.1920928955078125e-06, + 1.550062894821167 + ], + [ + 0.024999842047691345, + -1.1920928955078125e-06, + 0.7659423351287842 + ] + ], + "center": { + "x": 0.1575714498758316, + "y": 0.5758335590362549, + "z": 1.1580026149749756 + }, + "size": { + "x": 0.2651432156562805, + "y": 1.1516695022583008, + "z": 0.7841205596923828 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.29014304280281067, + -1.1920928955078125e-06, + 0.7659424543380737 + ], + [ + 0.2901431620121002, + -1.1920928955078125e-06, + 1.550062894821167 + ], + [ + 0.024999886751174927, + -1.1920928955078125e-06, + 1.550062894821167 + ], + [ + 0.024999767541885376, + -1.1920928955078125e-06, + 0.7659424543380737 + ], + [ + 0.29014304280281067, + 1.151667833328247, + 0.7659424543380737 + ], + [ + 0.2901431620121002, + 1.151667833328247, + 1.550062894821167 + ], + [ + 0.024999886751174927, + 1.151667833328247, + 1.550062894821167 + ], + [ + 0.024999767541885376, + 1.151667833328247, + 0.7659424543380737 + ] + ] + } + } + }, + { + "objectId": "Television|2|6", + "object_info": { + "name": "Television|2|6", + "position": { + "x": 2.605398416519165, + "y": 1.888741135597229, + "z": 1.743841528892517 + }, + "rotation": { + "x": -0.0, + "y": 0.0, + "z": 0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 9.829999923706055, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.5339081287384033, + "objectType": "Television", + "objectId": "Television|2|6", + "assetId": "Television_27", + "parentReceptacles": null, + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 3.4568896293640137, + 2.415930986404419, + 1.8481359481811523 + ], + [ + 3.4568896293640137, + 2.415930986404419, + 1.7360000610351562 + ], + [ + 3.4568896293640137, + 1.2061614990234375, + 1.8481359481811523 + ], + [ + 3.4568896293640137, + 1.2061614990234375, + 1.7360000610351562 + ], + [ + 1.7539072036743164, + 2.415930986404419, + 1.8481359481811523 + ], + [ + 1.7539072036743164, + 2.415930986404419, + 1.7360000610351562 + ], + [ + 1.7539072036743164, + 1.2061614990234375, + 1.8481359481811523 + ], + [ + 1.7539072036743164, + 1.2061614990234375, + 1.7360000610351562 + ] + ], + "center": { + "x": 2.605398416519165, + "y": 1.8110462427139282, + "z": 1.7920680046081543 + }, + "size": { + "x": 1.7029824256896973, + "y": 1.2097694873809814, + "z": 0.1121358871459961 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___3", + "object_info": { + "name": "Drawer (4)", + "position": { + "x": 0.18728360533714294, + "y": 0.16128958761692047, + "z": 1.157650113105774 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "CellPhone|surface|2|16" + ], + "distance": 1.7834070920944214, + "objectType": "Drawer", + "objectId": "Dresser|2|1___3", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2987596392631531, + 0.3128172755241394, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.3128172755241394, + 0.8256094455718994 + ], + [ + 0.2987596392631531, + 0.06156790256500244, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.06156790256500244, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.3128172755241394, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.3128172755241394, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.06156790256500244, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.06156790256500244, + 0.8256094455718994 + ] + ], + "center": { + "x": 0.17446386814117432, + "y": 0.18719258904457092, + "z": 1.157650113105774 + }, + "size": { + "x": 0.24859154224395752, + "y": 0.25124937295913696, + "z": 0.664081335067749 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "GarbageCan|2|4", + "object_info": { + "name": "GarbageCan|2|4", + "position": { + "x": 0.21869409084320068, + "y": 4.172325134277344e-07, + "z": 1.9429024457931519 + }, + "rotation": { + "x": 1.1140956303279381e-05, + "y": 89.99995422363281, + "z": -4.065494522365043e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": true, + "mass": 0.699999988079071, + "salientMaterials": [ + "Plastic" + ], + "receptacleObjectIds": [], + "distance": 1.2419095039367676, + "objectType": "GarbageCan", + "objectId": "GarbageCan|2|4", + "assetId": "bin_25", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.41238802671432495, + 0.5262948274612427, + 2.136596441268921 + ], + [ + 0.41238802671432495, + 0.5262948274612427, + 1.749208688735962 + ], + [ + 0.41238802671432495, + 2.980232238769531e-07, + 2.136596441268921 + ], + [ + 0.41238802671432495, + 2.980232238769531e-07, + 1.749208688735962 + ], + [ + 0.025000274181365967, + 0.5262948274612427, + 2.136596441268921 + ], + [ + 0.025000274181365967, + 0.5262948274612427, + 1.749208688735962 + ], + [ + 0.025000274181365967, + 2.980232238769531e-07, + 2.136596441268921 + ], + [ + 0.025000274181365967, + 2.980232238769531e-07, + 1.749208688735962 + ] + ], + "center": { + "x": 0.21869415044784546, + "y": 0.2631475627422333, + "z": 1.9429025650024414 + }, + "size": { + "x": 0.387387752532959, + "y": 0.5262945294380188, + "z": 0.387387752532959 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.4123879671096802, + 1.2740710531033983e-07, + 1.7492088079452515 + ], + [ + 0.4123877286911011, + 1.5489467841689475e-07, + 2.136596441268921 + ], + [ + 0.025000199675559998, + 2.3022076334200392e-07, + 2.1365959644317627 + ], + [ + 0.025000467896461487, + 2.0273321865715843e-07, + 1.7492085695266724 + ], + [ + 0.4123880863189697, + 0.5262947082519531, + 1.7492088079452515 + ], + [ + 0.41238781809806824, + 0.5262947082519531, + 2.136596202850342 + ], + [ + 0.025000303983688354, + 0.5262948274612427, + 2.1365959644317627 + ], + [ + 0.025000572204589844, + 0.5262948274612427, + 1.7492084503173828 + ] + ] + } + } + }, + { + "objectId": "Watch|surface|2|4", + "object_info": { + "name": "Watch|surface|2|4", + "position": { + "x": 1.3912206888198853, + "y": 0.6256394982337952, + "z": 0.6672267913818359 + }, + "rotation": { + "x": 1.9004578590393066, + "y": 270.0083312988281, + "z": 1.3189380168914795 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.07000000029802322, + "salientMaterials": [ + "Metal", + "Glass", + "Plastic" + ], + "receptacleObjectIds": null, + "distance": 2.282113552093506, + "objectType": "Watch", + "objectId": "Watch|surface|2|4", + "assetId": "Watch_1", + "parentReceptacles": [ + "Floor", + "Desk|2|5___0" + ], + "controlledObjects": null, + "isMoving": true, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.417060375213623, + 0.6608041524887085, + 0.7067966461181641 + ], + [ + 1.417060375213623, + 0.6608041524887085, + 0.6278884410858154 + ], + [ + 1.417060375213623, + 0.6253154277801514, + 0.7067966461181641 + ], + [ + 1.417060375213623, + 0.6253154277801514, + 0.6278884410858154 + ], + [ + 1.3687257766723633, + 0.6608041524887085, + 0.7067966461181641 + ], + [ + 1.3687257766723633, + 0.6608041524887085, + 0.6278884410858154 + ], + [ + 1.3687257766723633, + 0.6253154277801514, + 0.7067966461181641 + ], + [ + 1.3687257766723633, + 0.6253154277801514, + 0.6278884410858154 + ] + ], + "center": { + "x": 1.3928930759429932, + "y": 0.6430597901344299, + "z": 0.6673425436019897 + }, + "size": { + "x": 0.048334598541259766, + "y": 0.03548872470855713, + "z": 0.07890820503234863 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.3688113689422607, + 0.6245996952056885, + 0.7069577574729919 + ], + [ + 1.368859887123108, + 0.6227924823760986, + 0.6284213662147522 + ], + [ + 1.417612910270691, + 0.6244101524353027, + 0.6284142732620239 + ], + [ + 1.4175643920898438, + 0.6262173652648926, + 0.7069506645202637 + ], + [ + 1.3675941228866577, + 0.661281406879425, + 0.7061129212379456 + ], + [ + 1.3676426410675049, + 0.6594741940498352, + 0.6275765299797058 + ], + [ + 1.416395664215088, + 0.6610918641090393, + 0.6275694370269775 + ], + [ + 1.4163470268249512, + 0.6628990769386292, + 0.7061058282852173 + ] + ] + } + } + }, + { + "objectId": "CellPhone|surface|2|17", + "object_info": { + "name": "CellPhone|surface|2|17", + "position": { + "x": 1.4809045791625977, + "y": 0.7509581446647644, + "z": 0.6377400755882263 + }, + "rotation": { + "x": -0.0007403909112326801, + "y": 0.11716266721487045, + "z": 0.0006590941338799894 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": true, + "isToggled": false, + "breakable": true, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.1599999964237213, + "salientMaterials": [ + "Metal", + "Glass" + ], + "receptacleObjectIds": null, + "distance": 2.3337368965148926, + "objectType": "CellPhone", + "objectId": "CellPhone|surface|2|17", + "assetId": "Cellphone_4", + "parentReceptacles": [ + "Desk|2|5" + ], + "controlledObjects": [], + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 1.5252560377120972, + 0.7604283690452576, + 0.7286569476127625 + ], + [ + 1.5252560377120972, + 0.7604283690452576, + 0.5483832955360413 + ], + [ + 1.5252560377120972, + 0.750205934047699, + 0.7286569476127625 + ], + [ + 1.5252560377120972, + 0.750205934047699, + 0.5483832955360413 + ], + [ + 1.4365562200546265, + 0.7604283690452576, + 0.7286569476127625 + ], + [ + 1.4365562200546265, + 0.7604283690452576, + 0.5483832955360413 + ], + [ + 1.4365562200546265, + 0.750205934047699, + 0.7286569476127625 + ], + [ + 1.4365562200546265, + 0.750205934047699, + 0.5483832955360413 + ] + ], + "center": { + "x": 1.4809061288833618, + "y": 0.7553171515464783, + "z": 0.6385201215744019 + }, + "size": { + "x": 0.0886998176574707, + "y": 0.010222434997558594, + "z": 0.1802736520767212 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 1.5252560377120972, + 0.7502092719078064, + 0.7284762859344482 + ], + [ + 1.436924695968628, + 0.7502081990242004, + 0.7286568880081177 + ], + [ + 1.436556339263916, + 0.7502058744430542, + 0.548564076423645 + ], + [ + 1.5248876810073853, + 0.7502068877220154, + 0.5483834743499756 + ], + [ + 1.5252559185028076, + 0.7604284286499023, + 0.7284761667251587 + ], + [ + 1.4369244575500488, + 0.7604274153709412, + 0.7286567687988281 + ], + [ + 1.4365562200546265, + 0.7604250907897949, + 0.5485639572143555 + ], + [ + 1.5248875617980957, + 0.7604261040687561, + 0.548383355140686 + ] + ] + } + } + }, + { + "objectId": "TissueBox|surface|2|18", + "object_info": { + "name": "TissueBox|surface|2|18", + "position": { + "x": 0.1896684169769287, + "y": 1.1527113914489746, + "z": 1.1580026149749756 + }, + "rotation": { + "x": 1.1337818250467535e-05, + "y": 89.9999008178711, + "z": -4.358624209999107e-06 + }, + "visible": false, + "isInteractable": false, + "receptacle": false, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": false, + "isOpen": false, + "openness": 0.0, + "pickupable": true, + "isPickedUp": false, + "moveable": false, + "mass": 0.3499999940395355, + "salientMaterials": [ + "Paper" + ], + "receptacleObjectIds": null, + "distance": 1.6413774490356445, + "objectType": "TissueBox", + "objectId": "TissueBox|surface|2|18", + "assetId": "Tissue_Box_1", + "parentReceptacles": [ + "Dresser|2|1" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.24042558670043945, + 1.3016996383666992, + 1.2574137449264526 + ], + [ + 0.24042558670043945, + 1.3016996383666992, + 1.0585914850234985 + ], + [ + 0.24042558670043945, + 1.1516680717468262, + 1.2574137449264526 + ], + [ + 0.24042558670043945, + 1.1516680717468262, + 1.0585914850234985 + ], + [ + 0.13891127705574036, + 1.3016996383666992, + 1.2574137449264526 + ], + [ + 0.13891127705574036, + 1.3016996383666992, + 1.0585914850234985 + ], + [ + 0.13891127705574036, + 1.1516680717468262, + 1.2574137449264526 + ], + [ + 0.13891127705574036, + 1.1516680717468262, + 1.0585914850234985 + ] + ], + "center": { + "x": 0.1896684318780899, + "y": 1.2266838550567627, + "z": 1.1580026149749756 + }, + "size": { + "x": 0.1015143096446991, + "y": 0.15003156661987305, + "z": 0.1988222599029541 + } + }, + "objectOrientedBoundingBox": { + "cornerPoints": [ + [ + 0.24042584002017975, + 1.1516679525375366, + 1.0585914850234985 + ], + [ + 0.2404254972934723, + 1.1516679525375366, + 1.2574137449264526 + ], + [ + 0.1389114260673523, + 1.1516679525375366, + 1.257413625717163 + ], + [ + 0.13891176879405975, + 1.1516679525375366, + 1.058591365814209 + ], + [ + 0.24042586982250214, + 1.3016998767852783, + 1.0585914850234985 + ], + [ + 0.24042552709579468, + 1.3016998767852783, + 1.2574137449264526 + ], + [ + 0.13891145586967468, + 1.3016998767852783, + 1.257413625717163 + ], + [ + 0.13891179859638214, + 1.3016998767852783, + 1.0585912466049194 + ] + ] + } + } + }, + { + "objectId": "Dresser|2|1___2", + "object_info": { + "name": "Drawer (3)", + "position": { + "x": 0.18728360533714294, + "y": 0.420901894569397, + "z": 1.157650113105774 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [ + "Vase|surface|2|14" + ], + "distance": 1.6922954320907593, + "objectType": "Drawer", + "objectId": "Dresser|2|1___2", + "assetId": "", + "parentReceptacles": [ + "Floor" + ], + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.2987596392631531, + 0.5724295377731323, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.5724295377731323, + 0.8256094455718994 + ], + [ + 0.2987596392631531, + 0.32118022441864014, + 1.4896907806396484 + ], + [ + 0.2987596392631531, + 0.32118022441864014, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.5724295377731323, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.5724295377731323, + 0.8256094455718994 + ], + [ + 0.05016809701919556, + 0.32118022441864014, + 1.4896907806396484 + ], + [ + 0.05016809701919556, + 0.32118022441864014, + 0.8256094455718994 + ] + ], + "center": { + "x": 0.17446386814117432, + "y": 0.44680488109588623, + "z": 1.157650113105774 + }, + "size": { + "x": 0.24859154224395752, + "y": 0.2512493133544922, + "z": 0.664081335067749 + } + }, + "objectOrientedBoundingBox": null + } + }, + { + "objectId": "Dresser|2|1___0", + "object_info": { + "name": "Drawer (1)", + "position": { + "x": 0.18728460371494293, + "y": 0.9410534501075745, + "z": 1.1576499938964844 + }, + "rotation": { + "x": -0.0, + "y": 90.0, + "z": -0.0 + }, + "visible": false, + "isInteractable": false, + "receptacle": true, + "toggleable": false, + "isToggled": false, + "breakable": false, + "isBroken": false, + "canFillWithLiquid": false, + "isFilledWithLiquid": false, + "fillLiquid": null, + "dirtyable": false, + "isDirty": false, + "canBeUsedUp": false, + "isUsedUp": false, + "cookable": false, + "isCooked": false, + "temperature": "RoomTemp", + "isHeatSource": false, + "isColdSource": false, + "sliceable": false, + "isSliced": false, + "openable": true, + "isOpen": false, + "openness": 0.0, + "pickupable": false, + "isPickedUp": false, + "moveable": false, + "mass": 0.0, + "salientMaterials": null, + "receptacleObjectIds": [], + "distance": 1.623260259628296, + "objectType": "Drawer", + "objectId": "Dresser|2|1___0", + "assetId": "", + "parentReceptacles": null, + "controlledObjects": null, + "isMoving": false, + "axisAlignedBoundingBox": { + "cornerPoints": [ + [ + 0.29876062273979187, + 1.0925811529159546, + 1.4896907806396484 + ], + [ + 0.29876062273979187, + 1.0925811529159546, + 0.8256094455718994 + ], + [ + 0.29876062273979187, + 0.8413318395614624, + 1.4896907806396484 + ], + [ + 0.29876062273979187, + 0.8413318395614624, + 0.8256094455718994 + ], + [ + 0.05016908049583435, + 1.0925811529159546, + 1.4896907806396484 + ], + [ + 0.05016908049583435, + 1.0925811529159546, + 0.8256094455718994 + ], + [ + 0.05016908049583435, + 0.8413318395614624, + 1.4896907806396484 + ], + [ + 0.05016908049583435, + 0.8413318395614624, + 0.8256094455718994 + ] + ], + "center": { + "x": 0.1744648516178131, + "y": 0.9669564962387085, + "z": 1.157650113105774 + }, + "size": { + "x": 0.24859154224395752, + "y": 0.2512493133544922, + "z": 0.664081335067749 + } + }, + "objectOrientedBoundingBox": null + } + } + ], + "Agent": { + "agent_position": { + "x": 0.699999988079071, + "y": 0.9009997844696045, + "z": 2.9000000953674316 + }, + "agent_rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + }, + "agent_cameraHorizon": 1.5309450418499182e-06, + "agent_isStanding": true, + "agent_inHighFrictionArea": false + }, + "camera_info": { + "cameraPosition": { + "x": 0.699999988079071, + "y": 1.5759997367858887, + "z": 2.9000000953674316 + }, + "cameraOrthSize": -1.0, + "fov": 90.0 + }, + "common_object": [ + "door|1|2", + "Dresser|2|1", + "Pen|surface|2|3", + "Dresser|2|1___3", + "Television|2|6", + "CellPhone|surface|2|17", + "TissueBox|surface|2|18", + "CreditCard|surface|2|9", + "GarbageCan|2|4", + "Dresser|2|1___1", + "Watch|surface|2|4", + "Desk|2|5", + "Mug|surface|2|13", + "Dresser|2|1___2", + "Dresser|2|1___0", + "BaseballBat|2|3" + ], + "different_object": [ + "Painting|2|7", + "AlarmClock|surface|2|6" + ] +} \ No newline at end of file diff --git a/train/train616/2/1_depth_npy.npy b/train/train616/2/1_depth_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..a5fbb689e2bdc472bff93ea659051b2096a8afa8 --- /dev/null +++ b/train/train616/2/1_depth_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2488b4f26f09f5eb07f9fd77e6a55e5379d8fd48f492b5805870a98bdadf7d3b +size 3145856 diff --git a/train/train616/2/1_semantic_sensor_npy.npy b/train/train616/2/1_semantic_sensor_npy.npy new file mode 100644 index 0000000000000000000000000000000000000000..8633e8073223603b8c6ab8208c4e8019f99958b4 --- /dev/null +++ b/train/train616/2/1_semantic_sensor_npy.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1026abf020b4b33d6880d7a3c00f8f714f57775fb26a44f8bdf16d52433b6cd +size 2359424 diff --git a/train/train616/2/depth_0.png b/train/train616/2/depth_0.png new file mode 100644 index 0000000000000000000000000000000000000000..717b4bc0fc2c2e717840cf3ef1fe1371cc53776f Binary files /dev/null and b/train/train616/2/depth_0.png differ diff --git a/train/train616/2/depth_1.png b/train/train616/2/depth_1.png new file mode 100644 index 0000000000000000000000000000000000000000..82569eea7a16d2a1b1f0df00f57e1994f85c114e Binary files /dev/null and b/train/train616/2/depth_1.png differ diff --git a/train/train616/2/mask_questions.jsonl b/train/train616/2/mask_questions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/train/train616/2/rgb_0.png b/train/train616/2/rgb_0.png new file mode 100644 index 0000000000000000000000000000000000000000..3b716932f399390c9032a44baa78d76d1fe3b910 --- /dev/null +++ b/train/train616/2/rgb_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e98ed4f298dcd810ca31a66075d731355516942184ad1d2577aa73e6bfb1153 +size 952859 diff --git a/train/train616/2/rgb_1.png b/train/train616/2/rgb_1.png new file mode 100644 index 0000000000000000000000000000000000000000..579bafbe023eae1a0ccb8e09b0d69840ff04fa96 --- /dev/null +++ b/train/train616/2/rgb_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11931d8c1e2afb7b05158873753a8d67ba3e639606000e3a9ca5138788f70cef +size 1011002 diff --git a/train/train616/2/semantic_0.png b/train/train616/2/semantic_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b6b5f2e41d2fbb92c6172fc0c289232914ed002c Binary files /dev/null and b/train/train616/2/semantic_0.png differ diff --git a/train/train616/2/semantic_1.png b/train/train616/2/semantic_1.png new file mode 100644 index 0000000000000000000000000000000000000000..e8dd1c2d58a57e4528726c04aa81cbedcf4ee972 Binary files /dev/null and b/train/train616/2/semantic_1.png differ